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H_∞ disturbance observer design for high precision track following in hard disk drives

IET control THEORY AND APPLICATIONS 2009年第12期3卷 1591-1598页

作者： Thum, C. K. Du, C. Lewis, F. L. Chen, B. M. Ong, E. H. Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore ASTAR Data Storage Inst Singapore 117608 Singapore Univ Texas Arlington Automat & Robot Res Inst Adv Controls & Sensors Grp Arlington TX 76019 USA

Contrary to the conventional method of disturbance observers (DOB) where Q-filter is designed to be a low-pass filter with unity DC gain, the optimal H-infinity method has been proposed to design the Q-filter and applied in the servo control system of hard disk drives in track following. Simulation and implementation results have shown that the resultant H-infinity DOB improves low-frequency disturbance attenuation without compromising the disturbances attenuation performance at higher frequency region achieved by the nominal feedback controller. In terms of track-following precision, the proposed method is approximately 5% more accurate than the conventional method.

关键词： H∞ control Storage on moving magnetic media Q-filter disc drives feedback controller control system synthesis control system analysis and synthesis methods low-pass filters Other applications of control hard disk drives low-frequency disturbance attenuation feedback high precision track following Optimal control observers hard discs H∞ disturbance observer design Simulation, modelling and identification low-pass filter

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ANALYTICAL REDUNDANCY USING BAND-LIMITING FILTERS

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1988年第4期135卷 257-267页

作者： JONES, JG CORBIN, MJ ROYAL AIRCRAFT ESTAB DEPT MISSION MANAGEMENTFARNBOROUGH GU14 6TDHANTSENGLAND

A method is described whereby faults in control systems may be detected on the basis of the generation and crosscomparison of bandlimited signals from dissimilar sources. While signals measured at different points in the system may differ widely when viewed over a wide bandwidth, over limited pass bands there are shown to exist simple relationships which can be verified by means of appropriate filtering and comparison logic. The band-limiting filters employed are, in effect, used to monitor the propagation of information, originating in the structure of external inputs, through the system.

关键词： analytical redundancy band-pass filters redundancy control system analysis control systems band-limiting filters Information theory fault detection control system analysis and synthesis methods band pass filters

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Robustness in fractional proportional-integral-derivative-based closed-loop systems

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IET control THEORY AND APPLICATIONS 2010年第10期4卷 1933-1944页

作者： Moornani, K. Akbari Haeri, M. Sharif Univ Technol Dept Elect Engn Adv Control Syst Lab Tehran Iran

Robustness of a fractional proportional-integral-derivative (PID)-based control system is investigated. At first the largest pathwise connected region subset of a box in three-dimensional space of the parameters of the model is determined such that the closed-loop system is bounded-input bounded-output stable for any point inside it. Then a value that represents the size (in a specified sense) of the calculated region in the first stage and can be considered as a margin for the robustness of the closed-loop system is computed. Furthermore, lower and upper frequency bounds required in depiction of boundaries of the region and computing the mentioned margin are provided. Some special cases in two-dimensional space of the model parameters are investigated as well. To illustrate the results, a numerical example is presented.

关键词： robustness control system synthesis stability Stability in control theory control system analysis and synthesis methods closed-loop systems Nonlinear control systems three-term control fractional proportional-integral-derivative based control system closed loop systems bounded-input bounded-output stable

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Swing-up and fixed-time stabilization control of underactuated cart-double pendulum system

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IET control THEORY AND APPLICATIONS 2023年第6期17卷 662-671页

作者： Fan, Lu Zhang, Ancai Pan, Guangyuan Du, Yingxue Qiu, Jianlong Linyi Univ Sch Automat & Elect Engn Linyi 276000 Shandong Peoples R China Univ Shandong Key Lab Complex Syst & Intelligent Comp Linyi Shandong Peoples R China

A cart-double pendulum system is an underactuated mechanical system that has three degrees of freedom (DOF) and has two actuators. This paper discusses the stabilizing control problem for this non-linear mechanical system. First, an input relationship is constructed to transform the 3-DOF cart-double pendulum system into a 2-DOF reduced-order system in a fixed time. Second, a swing-up controller is designed for the reduced-order system to make the system infinitely approach upright equilibrium point. After that, the swing-up controller switches to a fixed-time balance stabilization controller, which stabilizes the cart-double pendulum at the upright equilibrium point in a fixed time. Finally, numerical examples verify the effectiveness of this presented control strategy.

关键词： motion control fixed-time balance stabilization controller control system synthesis control system analysis and synthesis methods underactuated cart-double pendulum system pendulums underactuated mechanical system Nonlinear control systems upright equilibrium point 2-DOF reduced-order system Spatial variables control Stability in control theory 3-DOF cart-double pendulum system nonlinear control systems nonlinear mechanical system stability swing-up controller switches

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Stabilization of DC-DC buck converter with unknown constant power load via passivity-based control plus proportion-integration

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IET POWER ELECTRONICS 2021年第16期14卷 2597-2609页

作者： He, Wei Namazi, Mohammad Masoud Koofigar, Hamid Reza Amirian, Mohammad Ali Blaabjerg, Frede Nanjing Univ Informat Sci & Technol NUIST Sch Automat Nanjing 210044 Peoples R China Univ Isfahan Dept Elect Engn Esfahan Iran Isfahan Univ Technol Dept Elect & Comp Engn Esfahan Iran Aalborg Univ Energy Dept Aalborg Denmark

It is known that constant power load (CPL) may cause a negative impedance, which seriously affects the stability of power system. In this paper, a new control algorithm for DC-DC buck converter feeding unknown CPL is proposed. First, under the assumption of known extracted power load, the standard passivity-based control (PBC) is presented to reshape the system energy and compensate for the negative impedance and a proportion-integration (PI) action around passive output is added to improve disturbance rejection performance, which forms the PBC plus PI (PBC+PI). Then, a parameter estimation algorithm is developed, based on immersion and invariance (I&I) technique, in order to online estimate the extracted power load. In the next step, the online estimation scheme is adopted to construct an adaptive strategy. Finally, the stability analysis of the cascaded system containing a closed-loop control system and observer error dynamics is conducted. Simulation and experimental results are demonstrated to validate the performance of the proposed controller.

关键词： Simulation, modelling and identification control of electric power systems DC-DC power convertors control system analysis and synthesis methods Stability in control theory Nonlinear control systems

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Fault detection for asynchronous T-S fuzzy networked Markov jump systems with new event-triggered scheme

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IET control THEORY AND APPLICATIONS 2021年第11期15卷 1461-1473页

作者： Aslam, Muhammad Shamrooz Li, Qianmu Hou, Jun Guangxi Univ Sci & Technol Sch Elect & Informat Engn Liuzhou Peoples R China Nanjing Univ Sci & Technol Sch Cyber Sci & Engn Nanjing 210094 Peoples R China Wuyi Univ Intelligent Mfg Dept Jiangmen Peoples R China Jiangsu Zhongtian Internet Technol Co Ltd Nantong 226463 Peoples R China Nanjing Vocat Univ Ind Technol Sch Social Sci Nanjing Peoples R China

In this article, an adaptive event-triggered fault detection problem for the asynchronous Takagi-Sugeno fuzzy networked Markov jump systems is investigated based upon the time-varying delays. The purpose of designing a fault detection filter is to detect the fault signal under the influence of disturbance with network transmission. In the design process, one essential factor, time-varying delay in the fuzzy filter with appearing in the residual signal, is taken into consideration. In order to rationally utilise network resources and elaborately avoid unnecessary continuous monitoring, an adaptive event-triggered scheme is designed to guarantee the Takagi-Sugeno fuzzy networked Markov jump systems. Thus it helps to lower the energy consumption of communication while ensuring the performance of the system. Different from the conventional triggering mechanism, in this article, the parameters of the triggering function are based on a new adaptive law which is obtained online rather than a predefined constant. Based on the associated Lyapunov stability theory and appropriate inequality, some sufficient criteria in the form of linear matrix inequalities are obtained to ensure the stability of the resulting error system. Finally, a tunnel diode example is employed to illustrate the effectiveness of the proposed methods.

关键词： Algebra control system analysis and synthesis methods Stability in control theory Optimal control Fuzzy control Nonlinear control systems

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Neural network-based tracking control for robotic systems using only position feedback

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IEE PROCEEDINGS-control THEORY AND APPLICATIONS 2001年第1期148卷 25-34页

作者： Chang, YC Kung Shan Inst Technol Dept Elect Engn Yung Kang Tainan Hsien Taiwan

An adaptive neural network-based position feedback tracking control scheme for robotic systems involving plant uncertainties and external disturbances is proposed. The developed controller is based on a neural network system and a linear reduced-order observer. The resulting closed-loop system guarantees a transient and asymptotic performance, in the sense that the tracking error locally converges to a small region around zero in terms oft, bound and HX performance. The implementation of the neural network basis functions depends only on the desired reference information. Only position measurements are required for feedback, and the developed controller is driven by the position tracking error. Consequently, the adaptive neural network-based controller developed possesses the properties of computational simplicity and easy implementation. Finally, a simulation example is provided to illustrate the tracking performance of a two-link robotic manipulator.

关键词： position control reduced-order observer Simulation, modelling and identification manipulator dynamics Manipulators observers feedback adaptive neural network reduced order systems H∞ control Optimal control stability Neurocontrol closed loop systems tracking control system analysis and synthesis methods transient response neurocontrollers neurocontrol closed-loop system Stability in control theory Spatial variables control two-link manipulator

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Iterative design of structured uncertainty models and robust controllers based on closed-loop data

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IET control THEORY AND APPLICATIONS 2010年第12期4卷 2823-2836页

作者： Roedoenyi, G. Gaspar, P. Hungarian Acad Sci Comp & Automat Res Inst Syst & Control Lab H-1111 Budapest Hungary

A joint uncertainty modelling and robust control design method is presented for linear time-invariant (LTI) systems. The system is given as a linear fractional transformation (LFT) with structured uncertainty blocks. The goal is to optimise the robust performance of the closed loop by simultaneously creating an optimised uncertainty model consistent with measurement data and designing a robust controller using skew mu synthesis. The proposed modelling/validation and control design algorithm is placed in the iterative identification and control (IIC) framework (design-experiments-analysis loop). In the proposed IIC approach, weighting functions of structured perturbation models are designed, which may lead to less conservative controllers compared to unstructured perturbations and disturbances. No a priori information is required on the disturbances. An advantage of the proposed method in the mu-synthesis context is that the number of fixed design parameters used in robust control (typically frequency-dependent weighting functions) is reduced to those associated with the control performance specification. The weighting functions of the uncertainty model are parameterised in the frequency domain and tuned subject to model validation constraints. It is shown that using skew mu as a robust performance criterion for both uncertainty modelling and control design, the proposed scheme simultaneously improves the robustness and performance of the control system. The efficiency of the method is illustrated on a vehicle steering problem.

关键词： structured perturbation models robust control design design-experiments-analysis loop iterative design robust controllers control system synthesis Stability in control theory joint uncertainty modelling linear time-invariant systems control system analysis and synthesis methods structured uncertainty blocks closed loop systems linear systems linear fractional transformation structured uncertainty models identification uncertain systems vehicle steering problem closed-loop data iterative identification control frequency-dependent weighting functions

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LINEAR-system REDUCTION USING APPROXIMATE MOMENT MATCHING

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1988年第2期135卷 73-78页

作者： DAVIDSON, AM WALTERS, IR Department of Mathematics University of Wales Institute of Science and Technology Cardiff UK

A method for reduction of continuous-time linear systems is presented which employs a singular-value decomposition approximation to Hankel matrices. The method is related both to balancing reduction and to moment-matc... 详细信息

关键词： control system analysis and synthesis methods Simulation, modelling and identification balancing reduction linear systems continuous time systems control system analysis approximate moment matching Algebra matrix algebra Interpolation and function approximation (numerical analysis) singular-wave decomposition approximation model reduction approximation theory Hankel matrices modelling

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Global practical tracking control for a class of uncertain non-linear systems

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IET control THEORY AND APPLICATIONS 2011年第11期5卷 1343-1351页

作者： Zhai, J. Fei, S. Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China

This study addresses the problem of global practical tracking via output feedback for a class of uncertain non-linear systems. First, the authors design a homogeneous state observer and controller using the generalised adding power integrator technique in a recursive way for the nominal system without the perturbing non-linearities. Then based on the homogeneous domination approach, a scaling gain is introduced into the proposed output feedback stabiliser to achieve the small tracking error arbitrarily. The simulation results worked out in an example verify the theory. The proposed approach can also widen the applicability to a broader class of systems with non-triangular structure.

关键词： power integrator technique stability control system synthesis feedback Stability in control theory scaling gain homogeneous state observer design observers Nonlinear control systems control system analysis and synthesis methods output feedback stabiliser nontriangular structure system nonlinear control systems global practical tracking control uncertain systems uncertain nonlinear system homogeneous domination approach

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