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This paper proposes a new tuning method for PI controllers in two-degree-of-freedom (2DOF) structure. In design approach, first order plus dead time (FOPDT) model is used. The aim is to have good set-point response and disturbance rejection and also maximum robustness to model uncertainties. The tuning strategy is based on using Butterworth rules and genetic algorithm optimization. Simulation results...
This paper presents an analysis of the appropriate tuning and robust control design for a model based predictive speed controller - the Generalized Predictive Controller (GPC) - used in a drive system with a resonant load. The resonance results from a finite stiffness of a long drive shaft. The achievable control quality of a model based predictive controller dependents on the appropriate choice of...
The Ziegler-Nichols tuning rules have been very influential and have been used extensively in process industry. This paper presents an extension of the modified Ziegler-Nichols tuning rules for fractional PI controllers. The design method consists on minimizing a frequency objective function subject to a constraint on the maximum sensitivity function MS. In this paper it is also demonstrated that...
In order to realize high speed and high precision position control of some rocket launcher servo system, aimed at all kinds of uncertainties such as widely changing moment of inertia and load moment, and strong impact moment, super-twisting algorithm is introduced to design speed controller and current controller. In order to guarantee mover speed to track its reference signal strictly when the system...
In this paper, the problem of robust multi-objective control design with an H∞ constrain is studied for a class of linear two-time scale systems. The design is based on a new modelling approach under the assumption of norm-boundedness of the fast dynamics. In this method, a portion of the fast dynamics is treated as a norm-bounded perturbation in the design by its maximum possible gain. In this view,...
In this paper, we advance a nonlinear control design concept based on backstepping, adjusted so that it might be used for a wider class of dynamical systems than the so-called strict-feedback form. Possible applications concern magnetic levitation systems, one of which will be used, in this paper, to design the proposed controller. Theoretical aspects regarding feasibility, stability and optimality...
This paper analyzes the dynamics of amplitude modulation atomic force microscope (AM-AFM) which is the mostly employed mode in current AFMs. A reduced model is proposed to approximate the function of tip-sample separation to oscillation amplitude. Considering the fact that the model parameters vary with different combinations of piezo-scanner and cantilever as well as the measured sample, a robust...
In this paper a new approach for design of fixed order H∞ controller is proposed, controller performance is indicated by single cost function i.e. stability margin. The nominal plant has been shaped by choosing the weighting functions. The corresponding cost function is obtained by applying the McFarlane and Glover procedure, the desired controller structure with few parameters has been specified...
In this paper, a non-linear controller is presented for permanent magnet synchronous motor (PMSM) sensorless drives. The non-linear controller is designed based on an input-output feedback linearization control technique. The extended Kalman filter is used to estimate the speed, position and load torque. The PMSM is fed by an indirect power electronics converter. This indirect converter is controlled...
In this work, the normal vector method for robust design is considered to account for actuator saturation effects when unknown time-varying disturbances are present, and desired dynamic properties have to be guaranteed. The normal vector method ensures that desired dynamic properties hold despite uncertain parameters by maintaining a minimal distance between the operating point and so-called critical...
A two-dimensional (2-D) system theory based iterative learning control (ILC) method for a class of linear discrete-time multivariable systems is presented in this paper. Practical ILC schemes comprise of a feed-forward learning controller along with feedback controllers for improved stability and convergence, termed as feedback assisted iterative learning control (FAILC). As a general format we consider...
This paper proposes robust proportional -integral-derivative (PID) control for a proton exchange membrane fuel cell (PEMFC) system. We model a PEMFC as a multivariable system, and apply identification techniques to obtain the system's transfer function matrices, where system variations and disturbances are regarded as system uncertainties. In previous studies, robust control has been successfully...
This paper considers the problem of controlling both the planar position and the orientation of an underactuated airship with a reduced number of actuators in the presence of a unknown persistent wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subjected to bounded uncertainties. A smooth and time-varying coordinate transformation...
The paper presents an example of a linear, parameter varying (LPV) controller synthesis for a generic nonlinear missile. It is based on obtaining a parameter dependent Ljapunov function, in order to ensure stability of the system. The LPV model of the missile is constructed by means of Jacobian linearization at fixed parameter values. Performance requirements of the control system are specified in...
This paper aims to design a robust H∞ control system against time invariant polytopic uncertainties. In general, such robust control problems are described by parameter dependent bilinear matrix inequality (PDBMI) problems which are not tractable numerically and there are few efficient methods for solving them. In this paper, we propose an iterative approach to the robust H∞ controller synthesis problems,...
When controlling a Linear Parameter Varying (LPV) system, a LPV regulator is advisable, since it ensures better performance than a simple Linear Time Invariant actually does. In fact, real-time scheduling to the variations of the system allows the achievement of stability and performance requirements for a number of operating points. Within this setting, this paper discusses a Matlab toolbox achieving...
In this paper, a robust control design strategy is introduced to synchronize two different chaotic systems. The controller is based on particle swarm optimization (PSO). Particle swarm optimization is a well-known evolutionary optimization algorithm inspired by organism behavior of birds flocking and fish schooling. Our control approach is based on defining a suitable cost function in such a way that...
This paper presents a robust nonlinear controller for position and flux control of primary type Linear Induction Motor (LIM) Drive. The proposed controller is designed based on adaptive input-output feedback linearization control, taking into account the LIM end effect. The stability of controller is proved by Lyaponuv theory and its effectiveness and validity is supported by computer simulation....
This paper presents the design of a robust optimal control system satisfying some system performance constraints The design problem is a problem of dynamic feedback, mixed H2/H∞ robust optimal control systems with multi constraints and parametric uncertainties. The main purpose of the robust optimal Linear Parameter Varying (LPV) control is to parametrize a controller via a linear convex combination...
This study is concerned with the synthesis of periodically time-varying memory state-feedback controllers (PTVMSFCs) for discrete-time linear systems. In our preceding studies, we have already established a solid theoretical basis for the LMI-based (robust) H∞-PTVMSFCs synthesis, and the goal of this paper is to extend those results to the H2 performance criterion. In the H2 case, the main difficulty...
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