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A new approach to path tracking using fractional differentiation is proposed with its application by simulation on a DC motor. A methodology for synthesizing a prefilter is defined using an I/O Davidson-Cole transfer function whose main property is having no overshoot on the plant output, whatever the values of its constitutive parameters. This permits synthesis from only two parameters. The optimum...
We present a study on the active control of vibrations of a flexible mechanical structure in presence of saturation affecting the closed-loop control signal. The application we consider here is a system composed of a flexible beam with one edge clamped on a movable support and the other kinematically free. Two piezoelectric patches are bonded on the beam: one of them is used as an actuator and the...
Wafer stage control system of step-scan lithography is a typical dual-stage system. Fine actuator ensures the high tracking precision and coarse actuator makes large-stroke movement to keep the fine actuator is not closed to saturation. PQ method is an effective technique for transforming a DISO system to two SISO systems. Two correlative controllers are designed for the parallel SISO systems which...
An ion polymer metal composite (IPMC) is an Electro-Active Polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. Recently, IPMC is widely applied in many fields such as biometric, biomedical and micro manipulator fields. This paper proposes a robust position controller for IPMCs which is based on the quantitative...
Dealing with a multivariable non-minimum phase model of a boiler system, a LQG/LTR controller is designed which is well-known for its optimality and robustness. Firstly, the loop transfer function is shaped using LQG method; then, an observer is proposed with the aim of loop transfer recovery. Consequently, the designed controller is reduced to the lowest possible order for the sake of implementation...
In neurosurgery, delineation of tumor boundaries during resection of brain tumors is of substantial relevance. During operation distinction between tumor and healthy tissue rely on the abilities of the surgeon based on visual and tactile differentiation. In this paper a high sensitivity actuator-sensor system using a piezoelectric bimorph is presented. Frequency shift and transfer function of the...
In this paper, robust controllers have been proposed for oscillation suppression in the RTAC benchmark problem. A nominal plant and an uncertainty model are extracted out of varieties of linear models, identified for the nonlinear system and the generalized plant for the unstructured uncertainty problem has been presented. Based on passivity, a cascade controller has been designed to reduce amount...
In this paper, robust controllers have been proposed for oscillation suppression in the RTAC benchmark problem. A nominal plant and an uncertainty model are extracted out of varieties of linear models, identified for the nonlinear system and the generalized plant for the unstructured uncertainty problem has been presented. Based on passivity, a cascade controller has been designed to reduce amount...
An approach is described for designing broadband controllers for flexible structures with collocated sensors and actuators. The Statistical Energy Analysis assumptions of equipartition and incoherence, together with conservation of energy, are used to express the average value of a global H2 performance metric in terms of the power dissipation of the compensator. This power dissipation can be represented...
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