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The inherent rate-dependent hysteresis in smart actuators hinders their wider applicability in practical engineeering. In this paper, based on the rate-dependent Hammerstein model, a 2 DOF control scheme with a robust controller combined with a hysteresis compensator is proposed for tracking control of smart actuators. The hysteresis compensator is first connected in cascade with an actuator to cancel...
Hysteresis nonlinearity, which is an inherent characteristic of piezoelectric actuators (PEAs), decreases the tracking precision and may even result in limit cycle oscillations. A tracking control based on H∞ robust disturbance observer (DOB) is presented for PEAs in this paper. Hammerstein system is applied to modeling dynamic hysteresis nonlinearity of PEA. Then, a control scheme that combines H...
Several robust fault detection problems for linear discrete time-varying systems have been given in this paper. It is shown that the optimal robust detection filters for those well-recognized robust fault detection problems, such as ℋ-/ℋ∞, ℋ2/ℋ∞ and ℋ∞/ℋ∞ problems, have the same observer structure, whose gain can be obtained by solving a standard difference Riccati equation. Furthermore, the solution...
This paper discusses the robust fault detection design for the criteria such as ??-/????,??2/???? and????/???? in which Gd, the transfer function from disturbance to the measurement output, is a tall transfer matrix and Dd is not full column rank. It is shown that the faults in a subspace can be made arbitrarily sensitive, while the faults in the complementary subspace have bounded sensitivities that...
This paper gives the optimal solutions to several robust fault detection problems such as ℋ−/ℋ∞, ℋ2/ℋ∞ and ℋ∞/ℋ∞ problems for linear time-varying systems in a time domain, which extends the previous results on linear time-invariant systems in a frequency domain. It is shown that all three problems have the same optimal detection filter and the filter is a simple observer obtained by solving a standard...
This paper aims at developing a systematic approach in frequency domain to design robust fault detection filters for linear time invariant (LTI) systems with model uncertainties. Three types of fault detection (FD) problems, i.e., H-/Hinfin problem, H2/Hinfin problem and Hinfin/Hinfin problem, are formulated and a procedure for designing the optimal robust fault detection filters is presented.
Mixed H2 and H∞ norm analysis and synthesis problems are considered in this paper. It is shown that the mixed norm analysis combined with structured uncertainty can be used to give bounds on robust H2 and H∞ performance. It is also shown that the mixed norm controller shares a separation property similar to those of pure H2 or H∞ controllers. The obvious advantage for a mixed norm is that it gives...
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