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This paper presents an inversion-based iterative learning control (ILC) for the two main axes of an overhead travelling crane that guarantees both an accurate tracking of repetitive desired trajectories for the crane load and an active damping of crane load oscillations. The main idea of the used ILC algorithm consists in a minimisation of the tracking error by iteratively improved inputs sequences...
A combination of feedforward and feedback control is typically employed to guarantee accurate tracking of desired trajectories. These two degrees of freedom are usually exploited in such a way that the feedback control part guarantees asymptotic stability of the closed-loop system dynamics. The feedforward control part depends on the desired reference trajectory and guarantees, in the ideal case,...
As shown in previous work, there exist several options for modeling of flexible mechanical systems that are readily applicable for the design of observer-based closed-loop control strategies. Especially, finite element techniques, which are derived by means of an early-lumping approach, provide a good compromise between accurate modeling and real-time capability of the resulting control and estimation...
In this paper, a flatness-based multivariable control of a permanent magnet synchronous motor (PMSM) as the main drive of a pressurised water supply system is presented. The fluidic subsystem consists of a pump and a storage volume connected to the high pressure side. The pump has to provide the supply volume flow into the storage volume, whereas the drain volume flow is considered as a disturbance...
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