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This paper deals with the control design for large cooling loops with large and time varying delays and measured disturbances. A control oriented model is presented and a two-degree-of-freedom control strategy is introduced. The feedforward part of the controller is designed using inputoutput linearization techniques. The control performance with respect to trajectory tracking and disturbance rejection...
Force regulation is an important topic in pick-and-place applications. To this end, a novel control concept for a setup consisting of two serially and co-linearly mounted axes is proposed. The position trajectory of the larger axis is tracked by a standard PD-controller. The feedback-law for the second and smaller axis mounted on the slide of the larger one is designed as an impedance control. A particular...
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