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In this paper, we prove that the DOB-based feedback controller can guarantee arbitrarily large but bounded gain margin and phase margin. This fact reminds that the DOB-based controller plays the role of robust controller even in the classical sense. We present a design procedure that ensures desired gain/phase margin even for the plants that have parametric uncertainty.
This paper is concerned with the robust discrete-time control for uncertain time-delay systems with nonlinearities and external noises. The parameter uncertainties enter into all the system matrices. The time-varying delay is unknown with given lower and upper bounds. The stochastic nonlinearities are described by satisfying a class of α Hölder condition. The problem addressed is the analysis and...
This paper considers the control problem for a class of sensor delay systems with nonlinear unknown dynamics and external disturbances. The extended state predictor observer (ESPO) based active disturbance rejection control (ADRC) is first proposed to timely estimate and compensate for the "total disturbance" under sensor delay. The timedomain stability of the closed-loop system is rigorously...
This paper proposes the combining of μ-synthesis robust repetitive control and feedforward control scheme to the design of constant sinusoidal voltage tracking for a stand-alone three-phase constant voltage inverter. The controller designed problem is defined in the form of two-degree-of-freedom feedback-feedforward controller. The D-K iterative algorithm is used to solve for both parts of the controller...
This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can...
This paper presents a robust controller for robot manipulators. The controller is based on the disturbance observer which can efficiently compensate the external disturbances and plant uncertainties, and recover the nominal system performance. Under the assumption that angular displacements as well as angular velocities are available for feedback, we propose a disturbance observer-based robust controller...
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