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This paper generalizes the pole placement method to the case of improper transfer. In that case, the minimal order solution may be non unique. After some illustrating examples, the problem of active control of a vehicle drivetrain is investigated. The control design is based on a simplified model including a non proper approximation of the delay. A methodic choice of the closed loop poles leads to...
The rotor speed estimation problem in electrical drives, based on shaft encoder measurements, has been dealt with by means of a digital approximate differentiator. The proposed differentiator is based on a digital VSC which is able to perform real 2-sliding modes, so that the observer discontinuous control is confined to the second total derivative of the available encoder signal estimate, and its...
In this paper the optimal nonlinear predictive control in cascaded structure design of induction motors is presented which provides global asymptotic tracking of smooth speed and flux trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. With full state measurement assumption, the robustness properties with respect to electrical...
This paper presents a H∞ methodology design of a linearized polytopic model for an induction motor. Output feedback controller is designed to provide non saturate control and minimum tracking error of both rotor speed and flux norm when the model is subjected to parameter variation. The nominal plant of a fourth order polytopic model is used to implement an LMI-based H∞ approach. Numerical simulation...
In this paper we propose a complete strategy for the longitudinal control of automotive vehicles in Stop-and-Go situations. Firstly, a upper level grey-box torque control is proposed to compensate for neglected dynamics at chassis level (due for example to road slopes, aerodynamic forces, rolling resistance forces, etc.). Secondly, to obtain the desired torque, we have considered a model-free approach...
Five-phase induction motor drives have recently drawn attention among multi-phase drives because the third harmonic injection (THI) allows to obtain both a higher output torque/volume relationship and broader stability margins. Previous studies have been focused on constant percentages of THI, requiring high and permanent injection if robustness becomes a main concern. This procedure is not optimal...
Speed control of an automotive engine based on sliding mode techniques has been presented. A 2-sliding “super twisting” algorithm has been applied since it does not require the time derivative of the sliding variable, which in this case would involve estimating engine acceleration. This and the associated flatness properties enable a sliding mode controller to be constructed which uses only measured...
This paper proposes a linear state variable feedback (LSVF) control scheme with state estimator as a Power System Stabilizer (PSS). This controller is adopted here because of the fact that it is an output feedback control strategy similar to conventional PSS schemes available in literature. The performance of the proposed controller is evaluated on a single machine infinite bus (SMIB) system under...
The paper presents a state controller for torque and reactive power tracking of a doubly fed induction generator operating in an unbalanced grid. The state feedback gain is tuned using linear-quadratic optimization. Reference stator currents are calculated using instantaneous power theory and precisely tracked by the current controller. In the paper there are presented simulation results of an electrical...
This article is concerned with the design and implementation of a robust position trajectory tracking controller for a permanent magnet synchronous motor (PMSM). The information on the angular position, provided by a classical resolver, is here complemented with an observer based phase lock loop (PLL) circuit which accurately renders the position and the angular velocity of the rotor. A Backstepping...
A systematic procedure is developed for the design of new adaptive robust torque tracking control for electro-hydraulic actuators with both parametric uncertainties and uncertain nonlinearities such as frictions. The dynamics of the electro-hydraulic actuators is assumed to be linearly parameterized about model parameters to develop the adaptive and robust control. The proposed algorithm is composed...
In this paper, the problem of adaptive output feedback stabilization of uncertain systems is investigated. A systematic algorithm for obtaining the adaptive output feedback control gain which guarantees the boundedness of all state variables is proposed. And then when both the considered system and its corresponding adaptive law are with state-dependent impulse disturbances, sufficient conditions...
To ensure high perfermance and robustness against external disturbances and modeling uncertainties under hard operating conditions for Switched Reluctance Motor in EV application, a reliable robust control must be designed. In this paper we present a robust control design based on fixed order H∞ loop shaping approach. Standard H∞ control is a powerful robust control technique for systems with uncertainties...
This paper presents a novel second order sliding mode control strategy for a robust tracking controller of a quad-rotor helicopter by utilizing a nonlinear sliding surface. The nonlinear sliding surface enables the closed loop dynamics to have a variable damping ratio, and therefore the transient time to reach the sliding mode can be shorten. The effectiveness of the proposed control strategy is proven...
This paper presents a robust nonlinear control technique for wide range speed operation of interior permanent magnet (IPM) synchronous machines based on the use of maximum torque per ampere (MTPA) and flux weakening (FW) controls. The global asymptotic stability of the drive is demonstrated by Lyapunov stability criterion in conjuncture with Barbalat's lemma. For the proposed nonlinear controller...
This paper is concerned with robust vector control of a permanent magnet synchronous motor (PM-SM) using a fix-point DSP based computing architecture. Speed control systems are analyzed for different operation conditions. A hardware architecture was developed based on a TMS320C5x fixed-point processor, a PWM control unit realized in FPGA technology, an interfacing unit to the incremental encoder and...
This work considers the problem of speed sensorless vector control of a three-phase PMSM using nonlinear control methods. An improved design of continuous sliding mode observer (SMO) is provided with a comprehensive analysis of sigmoid boundary layer to establish its relation with the estimation accuracy. The idea of cascaded SMO and high gain observer (HGO) is proposed for robust speed estimation...
Magnetically actuated helical nanoswimmers have various potential applications from in-vitro microfluidics to invivo less invasive surgery. However these applications provide more challenging environments for the helical nanoswimmers by often limiting their mobility robustness from their limited motion dexterity. That is why we propose in this paper a multimodal Roll-to-Swim motion transition of helical...
In the coming years, the electrification and the deployment of the electric motors in the urban transports will become a reality more and more widespread. The optimization stage of the electric motors usually does not consider in detail the real driving conditions of the car in which the motor is installed. It follows that the actual motor performance in operating points, especially as regards the...
This paper focuses on a robustness controller and the performance of a permanent magnet synchronous machine (PMSM) with parameter uncertainty. The proposed controller is composed by a model reference adaptive current controller and a torque compensator. An internal model of the PMSM is introduced to define the transient reference behavior of the current and torque. A simple adaptation rule of the...
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