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Standard analysis and synthesis techniques for digital control systems assume that the total time-delay in the feedback loop is negligible or precisely known. This might not be the case in some applications. Such systems are quite common in industry, especially due to strong trends towards networking. Under certain circumstances the network-induced delays can be considered constant, and yet it might...
The unique characteristic of a repetitive processes is a series of sweeps, termed passes, through a set of dynamics defined over a finite duration. On each pass an output, termed the pass profile is produced which acts as on forcing function, and hence contributes to, the dynamics of the next pass profile. This leads to the possibility that the output, i.e. the sequence of pass profiles, will contain...
The paper describes a novel pointing & tracking feedback algorithm for an inertially stabilized double gimbal airborne camera system equipped with a computer vision system. The key idea is to enhance the intuitive decoupled controller structure its optical axis. The resulting controller can also compensate for the apparent translation between the camera and the observed object, but then the velocity...
Decomposition of acceleration was investigated as an alternative to commonly used direct spectral analysis of measured acceleration or angular velocity for tremor quantification. Orientation estimation algorithm was devised to decompose the measured acceleration into inertial acceleration caused by sensor movement in inertial reference frame and gravitational artifact. Resulting signals, beside measured...
This paper demonstrates convenient use of freely available Polmat library for computations with transfer function models of multidimensional systems within Matlab environment. Polmat functions rely on MuPAD, a computer algebra system, which has become the core engine for symbolic computations in Matlab. Basic manipulations with multivariate two-sided polynomials are illustrated, test of stability...
In this paper, we report on a practical (laboratory) application of an input shaping method to a special piezoelectric actuator that is used to stimulate a whisker of a mouse. Precisely controlled tactile stimulation is necessary for neurological experiments studying cerebral processes of a mouse. Standard motivation for input (command) shaping is to suppress lightly damped modes of the actuator....
In this paper we develop new results on control design for spatially distributed linear systems using an n- D systems approach. As a possible application example, we consider a deformable mirror used as a wavefront corrector in adaptive optical system. The first new results consist of stability analysis plus stability tests. This is followed by control law design in a polynomial setting where a Youla-Kucera...
The paper describes development of a feedback position controller for a new type of monolithic "hybrid" ultrasonic motor. The goal of the controller design was to demonstrate the main advantage of this piezoelectric motor -high speed and high accuracy at the same time. Tracking of 1 mm steps with 30 nm error in down to 100 ms has been achieved
This paper presents work that has been done on design of a micropositioning stage for a transmission electron microscope. Topics covered include mechanical design of the positioning stage, sawtooth-like high voltage generator, report on experimental identification of the system, some thoughts and experience with input command shaping, finite-element analysis and design of capacitive 2-axis position...
With the help of numerical examples, we describe new fixed-order robust controller design functions implemented in version 3.0 of the polynomial toolbox for Matlab. The functions use convex optimization over linear matrix inequalities (LMIs) solved with the SeDuMi solver
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