In this paper, a method is proposed to design a robust controller for an uncertain system using a fast output sampling technique. An LMI approach is used to design robust feedback for the uncertain system. The fast ou...
详细信息
In this paper, a method is proposed to design a robust controller for an uncertain system using a fast output sampling technique. An LMI approach is used to design robust feedback for the uncertain system. The fast output sampling control allows the realization of the robust state feedback gain simultaneously for a family of linear models. But in practice there are two problems with exact realization of this state feedback i.e. poor error dynamics and noise sensitivity. Hence the problem is further posed as an LMI problem to overcome the undesired effects. The method does not require the states of the system for feedback. The method is illustrated by a practical system example.
Flexible manipulators possess a lot of advantages over their traditional rigid link counterparts, like less weight, less power input, higher speed of response etc. But efficient control methods are required to control...
详细信息
Flexible manipulators possess a lot of advantages over their traditional rigid link counterparts, like less weight, less power input, higher speed of response etc. But efficient control methods are required to control such a system. The strategy adopted here is to control the manipulator using the nonlinear model till the required terminal joint angle is reached. In the vicinity of the terminal joint angle both the nonlinear and the linearized model are used. Use of the nonlinear model ensures tracking and linear model damps the vibrations. Variable structure control in sliding mode has been used for both the models. This technique has been applied to a single link flexible manipulator.
In this paper a method is presented to design an output feedback compensator for a higher order discrete time system via its reduced order model. The advantages of the method are two fold: first is, the states are not...
详细信息
In this paper a method is presented to design an output feedback compensator for a higher order discrete time system via its reduced order model. The advantages of the method are two fold: first is, the states are not required for feedback and secondly when the compensator is placed in the closed loop with the higher order system it guarantees the closed loop stability. The method is simple and can be easily implemented. The method is illustrated via a numerical example.
A periodic output feedback vibration control system for flexible smart cantilever beam is designed by bonding piezoelectric as a sensor/actuator to the structure. The entire structure is modelled by finite element met...
详细信息
A periodic output feedback vibration control system for flexible smart cantilever beam is designed by bonding piezoelectric as a sensor/actuator to the structure. The entire structure is modelled by finite element method using piezoelectric beam element which includes sensor/actuator dynamics and a regular beam element. By retaining the first two vibratory modes the reduced order model is obtained in state space form. The effect on vibration modes for various sensor/actuator locations along the beam is observed. The periodic output feedback controller is designed and its performance for various sensor/actuator locations is done.
The problem of pole placement in a specified circular region for discrete two-time scale system is considered. An algorithm for pole assignment in a specified circular region using a bilinear transformation onto the u...
详细信息
The problem of finding a unit in H/sub /spl infin// i.e., an H/sub /spl infin// function the inverse of which is also H/sub /spl infin//, which interpolates to given points in the right-half plane has important applic...
详细信息
The problem of finding a unit in H/sub /spl infin// i.e., an H/sub /spl infin// function the inverse of which is also H/sub /spl infin//, which interpolates to given points in the right-half plane has important applications in a number of feedback stabilization problems, i.e., strong stabilization (stabilization by a stable compensator) and simultaneous stabilization (finding a common fixed compensator which stabilizes a finite set of possible plants). The present paper gives an overview of the interpolation theory and some remarks observed with different mappings used in literature to find a unit in H/sub /spl infin//. A new algorithm is also presented to construct a unit in H/sub /spl infin//.
暂无评论