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This paper proposes a particular method for position velocity loops to solve the velocity control problem associated with conventional sliding mode control of permanent magnet synchronous motor (PMSM) servo system. The merits of conventional sliding mode control approach and PID control technique were introduced to design this novel controller for the position and velocity loops. The sliding mode...
Constant pressure water supply system is a complex time-delay system which makes it difficult to ensure the good control performance and fast response in the working condition for traditional PID control. This paper presents a speed control system of constant pressure pump unit based on fuzzy self-tuning PID control strategy which can realize parameter tuning of PID real-timely. According to a real...
A buck converter with a digital controller is modeled analytically and compared to laboratory measurements and simulation results. These models will help the practicing engineer in understanding the new digital controllers. This presentation provides engineers less familiar with digital control some tools and insight into how to characterize the behavior of these systems. The models are validated...
In recent years, fractional order systems have attracted more and more attention in various field, studies on real systems have revealed inherent fractional order dynamic behavior. It is intuitively true that these fractional order models require the corresponding fractional order controllers to achieve excellent performance. In this paper, a fractional order PD?? controller is designed systematically,...
We propose an underactuated mechanical system named inverted pendulum on a cart beam system. The proposed system has three degrees-of-freedom and one control input. The mathematical model is derived using Lagrangian method and the stabilization is achieved with constraints using a linear controller designed based on linear matrix inequality approach. Simulation results are presented to validate the...
Base on the traditional internal model control(IMC) principle, the linear quadric Gauss optimal control(LQG) was adopted into the IMC construct in this article. Considering system random noise and measurement noise, based on the system performance index, the process model state feedback controller(LQ) and Kalman filter was designed, Thus the system controller is LQG controller which consist of LQ...
Inverted pendulum is one of the most important plants to be researched to investigate the validity of various control strategies, it's a highly nonlinear, unstable system. In this paper, the friction force and viscous moment are considered in the modeling of the plant, the sliding mode control method is applied to the design of the control system of inverted pendulum, both traditional sliding mode...
A novel control strategy based on passivity theory was proposed with special attention to trajectory tracking and robust control of rigid robot. In this paper, robot model was divided into nominal model and uncertainty part. Based on the backstepping approach, feedback passivity was used to design controller for the nominal model. A variable structure concentrated compensation controller was adopted...
A class of discrete-time nonlinear system and measurement equations involving incrementally conic nonlinearities with finite energy disturbances is considered. A linear matrix inequality based design approach is presented that guarantees the satisfaction of a variety of performance criteria ranging from simple estimation error boundedness to dissipativity. Simple simulation examples are included to...
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