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This paper discusses the algebraic design via Diophantine equations of dual-rate regulators generalizing the well-known interpolation constraints for the reference model in single-rate systems. The results are applicable to unstable plants. A simulation example on a robotic model is presented.
This paper deals with architecture and algorithm design of networked control systems (NCSs) to cope with network outages. A Networked PID controller and an internal model control based tuning scheme is proposed, using the jitter margin to ensure stability despite dropped packets. For longer periods of disconnection, an outage heuristic is proposed. The control design and outage heuristic need only...
In this paper, the application of the Sliding Mode Theory, in terms of observer and control design, to the DC-DC Single-Ended Primary Inductor Converter (SEPIC) is investigated. The choice and influence of the sliding surface regarding the state vector is presented. Usual sliding surfaces chosen to control other high order DC-DC converters are found not to work on the SEPIC. Thus, other surfaces are...
This paper studies stability and bifurcation of a simple piecewise linear dynamical system relating to several kinds of switching converters with solar cell input. Applying a simplification method, we derive the 1D phase map that is useful for precise analysis. The system can exhibit rich bifurcation phenomena, and for simplicity, we consider bifurcation for two parameters corresponding to temperature...
A positive current feedforward compensator for a PFC converter is proposed and demonstrated. This compensator is applied to a converter with a boost topology operating in continuous conduction mode with average current control. The compensator adjusts the current reference in order to counteract the effects of the time-varying source impedance. Experimental measurements verify that the compensator...
Non-sinusoidal back electromagnetic forces cause torque ripple in permanent magnet synchronous motors. These harmonics should be reduced by means of an appropriate current control to improve performance. Good results have been obtained with linear regulators such as repetitive controllers in synchronous reference frame (SRF) and resonant controllers in stationary frame. Repetitive controllers present...
In this paper, the channel characteristic of communication disturbance observer (CDOB) based bilateral teleoperation system is analyzed. It is pointed out that this method is a tradeoff between the 4-channel and the 3-channel algorithm. By the analysis, it is visible that the CDOB based approach expresses a 3-channel dynamic characteristic, because the position channel gains are seriously weakened,...
Dual-user teleoperation systems consisting of two master robots and one slave robot can be employed in order to facilitate the collaboration of two operators in a cooperative operation. Although, the stability as well as the performance of such systems suffers from undesired effects of latency, the significant issue of communication delay has been disregarded in the previous reported studies upon...
This paper discusses novel structure of communication disturbance observer (CDOB) to deal with time delayed controlled system. CDOB works based on the concept of network disturbance which considers the effect caused by time delay as one kind of force disturbance and estimate its value using disturbance observer (DOB). From estimated network disturbance force, time delay is compensated to maintain...
This paper proposes a model based controller design by exploiting μ-synthesis for a network based system with time varying delay and the plant model uncertainty. Much research has investigated network system with time delay and both frequency-domain based and time domain based approaches have been proposed. In this paper, we firstly review the study on conservativeness of existing approaches for time...
A robust yaw stability control design based on active steering control is proposed for electric vehicles with in-wheel motors. The control system consists of an inner-loop controller (i.e., in this paper, called as a Steering Angle-Disturbance Observer (SA-DOB) which rejects an input steering disturbance and an output yaw disturbance simultaneously by feeding a compensation steering angle) and an...
In this paper we deal with one of the most challenging control problems - controlling a class of underactuated systems with uncertainties. A synthesized integral sliding mode controller (ISMC) is proposed. The ISMC, constructed with a suitably chosen integral sliding surface, is able to completely nullify the influence from any matched factors, especially the matched uncertainties. As a consequence,...
In this paper, two power-sharing strategies of the fast networked control system for inverter parallel operation is proposed, which differs in transmission signals of power. Because of the rapidity of control period, the transmission time-delay can not be ignored. After the description of implementation method and mathematical modeling of systems, two control strategies are carried out the comparison...
This work investigates the design of reset control systems with reset actions at fixed reset instants, and their application to a class of Networked Control Systems. The reset law is simplified for the reset instants to be periodic, but on the other hand a key idea is the use of a variable reset value at each instant that minimizes the error between consecutive reset actions. Stability conditions...
This paper investigates the problem of tracking control for a class of linear networked control systems (NCSs). A linear system with interval time-varying delay is employed to describe the NCSs in consideration of both network-induced delay and packet dropout. An LMI-based sufficient condition on the existence of a network-based controller which guarantees an H∞ tracking performance is derived by...
In this investigation, the performance of a fully-integrated ship power system with a pulsed power load is analyzed. There are particular loads in shipboard power systems such as electromagnetic guns, electromagnetic launch systems, and free electron lasers, which draw very high short time current in an intermittent fashion. In this research, the power system is thoroughly simulated to capture its...
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