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We present a case study designed to highlight some of the practical issues that can arise when using linear robustness analysis techniques such as the structured singular value mu to analyse the robustness of uncertain nonlinear systems. The problem considered in the case study is the familiar ball and beam position control task, where the mass of the ball and the time-delay in the beam actuator are...
Publications on control loop condition monitoring have mostly dealt with either applications or with the development of new performance indices. End-users and supplier companies have adopted the published methods and used them for their specific product portfolio or monitoring purposes respectively. Few attempts have been made to consider the performance monitoring approach from a user-point of view,...
In this paper, the design and flight testing of a H∞ Stability Augmentation System to improve the lateral handling qualities of a remotely controlled Unmanned Air Vehicle is presented. The problem of decoupling the roll response and the sideslip response using model-matching approach is considered along with control sensitivity minimization. In contrast to the conventional two degree of freedom controller...
Reset control was studied for enhanced performance that can not be obtained by linear controllers. The conventional reset control is simple for implementation by resetting some of its controller states to zero when its input is zero. However, we find that in some cases the performance of conventional reset control is still limited such as only partial reduction of the overshoot. Thus, this paper presents...
Active Disturbance Rejection is a relatively new, and quite different, design concept that shows much promise in obtaining consistent response in an industrial control system full of uncertainties. But most of the development and analysis has previously been shown in the time-domain. In this paper, frequency-domain analysis of such a control system is performed to quantify its performance and stability...
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