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A design of a feed-forward-based fractional-order model reference adaptive control (FO-MRAC) compensator using a modified MIT rule to control a DC-DC boost converter is presented in this work. As the plant is non-minimum phase, an implementation of the so-called parallel feed-forward configuration is required to make the plant satisfy ASPR (almost strictly positive real) conditions that in turn, allows...
Because of nonlinear and strong coupling features, control system of permanent magnet synchronous motor usually requires high robustness, which can be achieved by fractional-order controller with strong ability against disturbances. A tuning approach based on D-decomposition method and maximum sensitivity is proposed to design fractional-order PIλ controller for permanent magnet synchronous motor...
Aiming at multiple-input multiple-output (MIMO) systems with multiple time delays in the process industry, all-pole approximation is proposed for different time delays in this paper. What is more, in order to reinforce the tracking performance and controller robustness in the case of uncertainty and disturbance, loop transfer recovery method at output side is proposed to realize the multiple-loops...
An active disturbance rejection controller (ADRC) is designed and originally implemented on a real torsional plant. The torsional plant resembles the dynamics of a rotational system. Due to mass imbalance, centrifugal imbalance, and the non-coincidence between the principal and geometric axes of a rotating disc, the system parameters of this torsional plant are varying constantly. In addition, an...
This paper deals with the robust control problem for linear systems with both gain and time constants variations under fractional order PIλDμ controller. A robustness specification to the parameters variations is proposed. For those systems with more than one uncertain time constant, the robustness specifications are analyzed and simplified. To minimize the phase offset nearby the crossover frequency,...
This paper investigates the fragility (both from the stability and performance point of view) of (optimally tuned) fractional-order P(I)D controllers applied to integral processes. Indeed, the effects of the variations of the controller parameters are investigated in order to understand if the fine tuning of the controller is a critical issue. Both the set-point response and the load disturbance rejection...
This paper deals with Fractional Complex Order Controller FCOC tuning. The paper presents new structure of FCOC with the form PIx+iyD, in which x and y are the real and imaginary parts of the integral complex order, respectively. With the controller's five parameters, we can fulfil five design requirements. Design specifications are set to ensure robustness toward gain variations, noise on system...
The goal of this paper is to present a software tool intended to aid at the design of 2DoF PI/PID controllers by using the Model REference Robust Tuning (MoReRT) approach. This tool is suitable for those who need to design the PID controller for the simple closed-loop feedback in an effective and user-friendly way. The tool has been implemented in MATLAB<®/SIMULINK<®. and has been designed on...
The possibilities of automatic control systems with PI2D-controller are discussed in this paper. It was proposed the procedure for the calculation of its parameters based on a modal approach. Comparative analysis of the system with PI2D-controller using numerical simulation in Matlab was carried out. The effect of the non-stationary object parameters and external disturbances was examined.
The control systems of modern electric drives are built with using the principle of subordinate control, therefore the quality and accuracy of control of all external loops largely depends on internal control loops. In the article a typical, which is widely used in practice, and robust current control systems, which is obtained based on of a general solution of the polynomial synthesis equation, are...
The article resolves the problem of examining the possibilities for analytically synthesized regulators use to control a standard production facility with a time delay subjected to random perturbations. We synthesized various kinds of astatic system polynomial controllers for the automatic production facility control. During synthesis, the delay element is represented by the 3rd and the 1st order...
This paper deals with features of robust two-degree-of-freedom system assigned for stabilization of information and measuring systems operated on the ground vehicles in difficult conditions accompanied by influence of the parametric and coordinate disturbances. The optimization criterion and state space model of the augmented plant are derived. The design procedure of robust system for stabilization...
The paper is devoted to the desired model method. It is simple and effective controller tuning method which allows tuning of conventional analog and digital controllers for controlled plants with time delay for the desired relative overshoot. Its derivation is described in detail and the detailed analysis of its properties is performed. The use of the desired model method is shown in the example.
A new decoupling internal model controller design method was proposed for the decoupling problem of the multivariable time-delay systems in industrial processes. This method is based on the adjoint matrix of the controlled object model. According to the basic principle of inversion, decoupling compensator is designed firstly, and then the internal model controller is designed for the decoupling generalized...
A verification methodology is described and evaluated to formally determine uncertain linear systems stability in digital controllers with considerations to the implementation aspects. In particular, this methodology is combined with the digital-system verifier (DSVerifier), which is a verification tool that employs Bounded Model Checking based on Satisfiability Modulo Theories to check the stability...
An existing method for tuning a generalized predictive control (GPC) law using desired closed-loop transfer functions is applied to preview systems. In the context of preview systems, it is supposed that future values of the reference signal are available a number of time steps ahead. This information can be used to reduce the error between the reference signal and the measured output by adding an...
Most of the modern industries have multivariable processes wherein interactions exist. As the process outputs and inputs are coupled, designing controller for MIMO processes is a challenging task. The effective open-loop transfer functions (EOTFs) between the paired process input-output variables have complex high order dynamics. While many of the decoupling control methods uses effective transfer...
Efficient and robust control of cardiac pacemaker is essential for providing life-saving control action to regulate Heart Rate (HR) in a dynamic environment. Several controller designs involving proportional-integral-derivative (PID) and fuzzy logic controllers (FLC) have been reported but each have their limitations to face the dynamic challenge of regulating HR. Fractional-order control (FOC) systems...
The main purpose of this article is to present and describe the advantages of the MFC/IMC structure utilization in control of BLDC motor. The results of the analysis included in this work compare two-loop control structure containing internal model of the process with classical single-loop structure with PID controller, which is commonly used in control of industrial motors. In the framework of conducted...
The linear motion of the Corner Cube Mechanism developed for the infrared sounder of the third generations of Meteosat weather satellites requires a high level of accuracy. The system is subject to external micro-vibration perturbations from surrounding instruments, which cannot be rejected with the current PID controllers with notch filters. A data-driven H∞ robust controller design method is proposed...
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