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In this paper we have synthesised the stability and robustness performance of MIMO compensator design for which the whole set of latent-structure can be assignment via the approaches of Block root placement technique. The purpose is to provide a comparative study between the Block pole structures in term of system response, and how can they affect the compensator structure meting a desired criteria.
This paper presents a modification of recently reported general rules for designing complex controllers. The presented approach is here applied to control stable processes including dead-time with a dominant left half-plane zero. The introduced modification enables improvements in the form of better disturbance rejection and smaller IAE (Integrated Absolute Error). The solution to design procedure...
The unwanted periodic external excitations on AC drives, such as fluctuation in the DC bus voltage or dead time in the gate drive signals, often act as narrow band disturbances in rela-tively low frequency region. The consequent influences cannot be filtered out by the commonly used low pass filter in hard-ware configuration, thus special attention has to be paid to this kind of disturbances. A robust...
Some literatures propose the PI controller design method of phase-lock loop (PLL) that without the lowpass filter, and the design rule is easy since the PLL is a second-order system. However, the PLL with the lowpass filter is a high-order system, and the PI controller design is complicated according to traditional method. This paper proposes a new method to design the PI controller parameters of...
Tethered Segway is a robotic platform inspired by human climbers. It is a two-wheeled mobile platform tethered to the top of a structure in order to climb steep surfaces with varying slopes, such as domes. The unstructured environment may cause uncertainties in the dynamic behavior of the robot while operating on different parts of the dome. In this paper analysis and synthesis of a robust controller...
This paper proposes a unified approach for robust controller (RC) design for Electro-magnetic Levitation System (EMLS) in delta domain. Dynamic systems modelling with delta operator provides a unified framework in rapprochement between discrete-time dynamic models and its continuous counterpart at fast sampling. This property is utilised to design different classical control schemes such as PI, PD...
In this paper, robust control of the high-gain DC-DC converters are investigated using sliding mode controller (SMC). Different aspects of the closed-loop controller design are studied. Also, state-space average model and different transfer functions of the converter are extracted. It is shown that in direct control of the output voltage, the system has a right half plane zero in the converter transfer...
In this paper, we prove that the DOB-based feedback controller can guarantee arbitrarily large but bounded gain margin and phase margin. This fact reminds that the DOB-based controller plays the role of robust controller even in the classical sense. We present a design procedure that ensures desired gain/phase margin even for the plants that have parametric uncertainty.
This paper presents a mixed sensitivity based design approach of H-infinity controller for a dc servo motor system. Frequency dependent suitable weight functions for sensitivity and complementary sensitivity transfer functionare chosen to design the controller. Synthesis of H-infinity controller is performedusing Robust Control Toolbox in MATLAB. The input output data samplesfor a laboratory based...
This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can...
This work provides a process to design stabilizing robust H∞ attitude controllers for autonomous underwater vehicles (AUVs) using classical loop-shaping techniques. We adopt the loop-shaping design ideas introduced by McFarlane and Glover [1]. In this paper, we present two control topologies and procedures for designing robust attitude controllers for streamlined AUVs. We describe how to achieve a...
This paper deals with a novel robust current control scheme for Permanent Magnet Synchronous Machine based on the conventional cascade structure. The main idea is to substitute the commonly used decoupling network, which requires the precise knowledge of the system parameters in any working condition, with a more flexible and robust scheme. In particular, the traditional configuration is improved...
In this paper, a robust controller is designed based on μ-synthesis method for grid-connected inverters. The performance of the controller is made robust against realistic uncertainties including the time delay and parameter changes, while the resonant oscillations are actively damped. The designed controller only relies on output feedback eliminating the need for extra feedback sensors that are normally...
In this paper, a robust controller is designed to control the output voltage of an inverter with an LC type output filter in an islanded microgrid. The proposed controller includes a local droop controller, as well as a robust controller that is designed based on the μ-synthesis technique. The performance of the designed controller is proven to be robust to the uncertainties which include the time...
Most existing methods in binaural sound source localization rely on some kind of aggregation of phase- and level-difference cues in the time-frequency plane. While different aggregation schemes exist, they are often heuristic and suffer in adverse noise conditions. In this paper, we introduce the rectified binaural ratio as a new feature for sound source localization. We show that for Gaussian-process...
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...
This paper is an extension of previous work, where authors developed a nonlinear model and its linear approximation of bicycle (or single track vehicle generally) with controlled moment gyro (CMG) used for stability algorithm in vertical direction. Also, simple stability was proposed. This extension focuses on robustness of control.
This work presents significant developments in Networked Control Systems based on PID, Internal Model Control and Smith Predictor algorithms. The main purpose of this research paper is to study the performance and robustness offered by these control design methods in handling the challenging control problem encountered with systems subject to time-varying delays and dropouts. It is expected that proposed...
Disturbance observer(DOB) has been known as a simple robust control method to reject disturbances. Design of Q filters is considered as the most important design technique for the DOB design to compensate for the possible improperness of the inverse model of the plant as well as a non minimum phase. Many efforts on Q-filter design have been accomplished to realize a stable filter for the inverse of...
This paper presents a new method of designing a robust PID power system stabilizer. This methodology provides an exact way to tune PID parameters and find an optimal controller using non-iterative Linear Matrix Inequality (LMI) approach. The uncertainties inherent in the system model is also taken into account in the design process to increase the robustness of the proposed controller. For this purpose,...
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