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In this paper, we propose a perfect model-following (PMF) system using active disturbance rejection control (ADRC). Simulation results show that the plant output follows the desired reference model output. By using the ADRC, we can ignore the parameter errors of the plant. Also the proposed method is designed a model following system, even if the order of the plant is different from that of the model.
We propose a simple design method of filtered Smith predictor that belongs to a class of dead-time compensators. Simulation results show that disturbance rejection performs well for unstable and integrative plants with dead-time.
In this study, we propose an active disturbance rejection control (ADRC) with time delay. ADRC is typically used for systems with generalized perturbation. An internal model control (IMC) appliers for plants with time delay. This paper proposes a method that combines ADRC and IMC. In addition, we describe a method for estimating the disturbance compensator, the observer gain, and the state-feedback...
In this paper, we propose an approach for designing a discrete-time model matching active disturbance rejection control (ADRC). The ADRC is a design method that achieves a high performance for disturbance estimation and compensation using an extended state observer (ESO), which estimates the plant state variables and generalized perturbation and then offsets it. However, when the input-side disturbance...
This study details a controller design approach based on linear programming (LP) for a multi-input-multi-output (MIMO) system. Authors has already proposed an LP approach for a single-input-single-output I-PD control system. The method involved constraints obtained from the Routh-Hurwitz stability criterion and a cost function by the final-value theorem. Based on the constraints and cost function,...
In this study, a design of simplified internal model control (IMC) for time delay processes is proposed. The control system has the feedback based on the proposed compensator in the disturbance response. Although the conventional IMC does not have dead time in the characteristic equation, it has the steady state error produced by the input side disturbance for a plant with an integrator. To overcome...
In this paper, we describe the development of a Model-following Servo Controller (MFSC) for multiple-input-multiple-output (MIMO) systems. MFSC is an extension of a MIMO I-PD controller based on an integral-type optimal servo mechanism (IOS). The controller we developed was designed to have improved robustness against disturbances by multiplying the integration gain by a constant. We confirm the robustness...
In this paper, we propose nonparametric Bayesian (NPB) models for autoregressive (AR) and autoregressive exogenous (ARX) identification. In the proposed AR model, we assumed that its coefficients are given by the Bernoulli process. Then, the proposed AR model was extended to the NPB model for ARX identification using two independent Bernoulli processes. The posterior distributions of the proposed...
In this study, we propose an improved active disturbance rejection control (ADRC). The basic idea behind ADRC is to model a system with a disturbance that represents any difference between the model and the actual system, including external disturbances. In the proposed method, the state-feedback gain, the integral gain, and the observer gain are determined with the pole placement method using Ackermann's...
In this study, we explain and demonstrate a design method employing model-following control using a controller inversion technique with active disturbance rejection control. In the proposed method, active disturbance rejection control is applied to the system to eliminate dependence on plant parameters. We confirmed the robustness of the proposed method by inserting input-side disturbance and plant...
In this paper, we propose a model-following controller that is represented by an integral-type state equation. Simulation results show that the plant output follows the desired reference model output. Furthermore, we propose a design method for a plant where the coefficient matrix of the state equation is a singular matrix.
In this study, we propose the use of proportional-integral-derivative and Clegg integrator (PID+CI) reset compensators. The CI is a nonlinear integrator based on reset action. PID+CI resets the output of the integrator based on the plant deviation. Thus, this controller is expected to reduce the overshoot of the plant output. This study is devoted to the tuning method of PID+CI reset compensators...
In this paper, modified model - following sliding mode control based on the active disturbance rejection control observer is proposed and demonstrated. We introduce the Active disturbance rejection control with disturbance observer. the Improved ADRC is normalizing the plant and the removal characteristics of the input-side disturbance. Therefore, the plant is changed to the characteristics not having...
This article describes our approach to designing a model matching controller based on a discrete-time active disturbance rejection control (ADRC). The ADRC is an effective control technique to achieve a high performance of the disturbance estimation or its compensation. In a conventional ADRC, the extended state observer (ESO) is used in order to estimate the plant state variables and the generalized...
This study describes and demonstrates a new Model Recovery Anti-Windup scheme with a proportional-integral-derivative (PID) controller. PID control has been widely used in the industrial processes. However, if a control system has an integral element, the windup effect causes control system performance deterioration. To solve this problem, it is necessary to add an anti-windup (AW) compensator to...
In this paper, we propose a method for online controller adjustment by a fictitious reference iterative tuning (FRIT) of a frequency domain using sliding discrete Fourier transform (DFT). We have extended the FRIT to correspond time delay and characteristic variation of a control object. A sliding DFT was used to correspond to the time delay of the controlled object. In addition, we have optimized...
In this study, we have proposed an improved anti-windup control using a Proportional-Integral (PI) controller. PI control has been widely used for the industrial applications. However, PI controller is usually designed in a linear region ignoring the saturation-type nonlinearity. An anti-windup control comprises a linear feedback controller that satisfies the desired non-saturation specification and...
This study describes and demonstrates the model-following control using a robust gain matrix based on the normalized plant. The normalized plant is constructed by inserting the matrices for normalizing into the original plant, rendering it independent of the plant parameters. The robust gain matrix also adopts a switching function determined by the linear quadratic regulator (LQR) method. The robust...
This paper describes and shows an H∞ controller design based on the Butterworth filter conversion. The proposed method refers to the conception of a normalized plant. By converting the control target to a Butterworth filter, it is not necessary to redesign the controller depending on the control target. Simulation and experimental results show the proposed method to be robust against an external disturbance...
In this paper, we propose simple model following control design methods for a stable and an unstable plant. Each method is based on the pole placement using model parameters. In simulation studies, we show various cases including a nominal plant and the plant with a modeling error for a stable plant, an unstable plant, and a DC motor. These results show that the proposed methods have been superior...
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