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The low-speed maglev train in National Maglev Transportation Engineering R&D center is taken as the object of study. The design and realization of magnetic suspension controller is discussed. The nonlinear mathematical model of the magnetic suspension system is built. Then, the PD controller is investigated carefully, which indicates the PD controller is sensitive to disturbance. In order to reject...
A hypersonic aircraft vehicle is a highly complex nonlinear system, whose model possibly contains uncertainties in the dynamics. This paper presents the design of proportional-integral-derivative (PID), and nonlinear feedback linearization (FL) for a hypersonic vehicle at subsonic speeds. The complexity of the dynamic system is considered in the design structure in order to address robustness issues...
In this paper, a linear control technique based on a PID controller, which is the most used controller type in the industrial applications, is proposed for the angular position control of fan and plate system that has a nonlinear characteristic. Although the system is nonlinear, in the experimental studies, it is observed that for any small region in which the system can be considered as linear, the...
This paper proposes a robust control scheme based on a disturbance observer (DOB) for flexible joint robots. In this paper, the DOB is applied only on the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that, to guarantee the stability, the estimated motor-side position should be fed back into the controller, which is different from...
In this paper, a novel fast recursive dynamic sliding control method based on extended state observer is proposed for dual-motor servo system with backlash nonlinearity. The extended state observer is improved by introducing a new nonlinear function to avoid high-frequency oscillation and simplify the designing process. Then, a fast recursive dynamic sliding controller is designed, which can make...
In this paper, we extend the previous results on trajectory linearization observer (TLO) for SISO to MIMO nonlinear time-varying (NLTV) systems, and extend the highgain observer theory for linear time-invariant (LTI) observer error dynamics to linear time-varying (LTV) observer error dynamics, using the (time-varying) PD-eigenvalue assignment method. In addition, the time-varying high gain TLO alleviates...
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