A computer control algorithm for feedback composition control using off-line analysis

MPC also known as moving or receding horizon control, is a feedback control scheme that has originated in industry as a real-time computer control algorithm to solve linear and nonlinear multi-variable problems that have constraints and time delays. Since disturbances can drive model predictive control into non-convexity and instability this problem has attracted many researchers. The stability studies in this paper are illustrated in presence of colored noise, error in delay estimation, unstable and non-minimum phase system by means of numerical example. The simulation is carried out using an example, which is the main contribution of the paper.

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Algorithm and Implementation of Smith Predictive Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.687-691.60 ◽

2014 ◽

Vol 687-691 ◽

pp. 60-63

Author(s):

Zi De Tian

Keyword(s):

Predictive Control ◽

Pid Controller ◽

Control Algorithm ◽

Computer Control ◽

Delay System ◽

Smith Predictor ◽

Time Varying ◽

Math Model ◽

Time Varying Delay ◽

Varying Delay

With invariable time delay theoretically,Smith predictor is deeply studied,the fact that the Smith predictor depends on the math model of the system is found ,and so it is very difficult to control the time-varying delay system well. Therefore,it is necessary to take an effective method--using PID controller with the digital Smith predictor,and studying its control algorithm,and doing the simulation in the lab of micro-computer control. Simulation results have proved the efficiency of the algorithm and the validity.

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Real Time Computer Control of a Quadruped Walking Robot

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3143805 ◽

1986 ◽

Vol 108 (4) ◽

pp. 346-353 ◽

Cited By ~ 5

Author(s):

Tsu-Tian Lee ◽

Ching-Long Shih

Keyword(s):

Adaptive Control ◽

Real Time ◽

Control Algorithm ◽

Computer Control ◽

Software Systems ◽

Walking Robot ◽

Nonlinear Feedback ◽

Rate Feedback ◽

Quadruped Walking Robot ◽

Model Reference Adaptive

This paper presents a description of the hardware and software systems used to achieve real-time computer control of locomotion in an experimental quadruped walking robot. This robot possesses three independently powered joints in each of its four legs. Each joint provides position and rate feedback to a microprocessor-based controller. To control the movement of the leg so that the leg is placed on the desired foothold position, nonlinear feedback is first applied for decoupling, and then Model-Reference-Adaptive-Control is used to control the motion and position of the leg. Experimental results show that the proposed control algorithm can effectively control the leg.

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Verification of On-Line Computer Control of EDM by Data Dependent Systems

Journal of Engineering for Industry ◽

10.1115/1.3187100 ◽

1987 ◽

Vol 109 (2) ◽

pp. 117-121 ◽

Cited By ~ 20

Author(s):

S. M. Pandit ◽

T. M. Mueller

Keyword(s):

Tool Wear ◽

Metal Removal ◽

Removal Rate ◽

Computer Control ◽

Electro Discharge Machining ◽

Manual Adjustment ◽

Machine Manufacturer ◽

On Line ◽

Edm Process ◽

Line Analysis

A new method of computer control of electro-discharge machining based on Data Dependent Systems (DDS) methodology has been recently proposed. The control is based on a parameter which effectively represents the resistance of arc and is isolated by the DDS model from the random current and voltage signals in spite of the large noise. This paper presents an experimental verification to show that this parameter indeed represents the arc resistance which cannot be measured by any other means and that the parameter is quite sensitive to the change from beneficial sparking condition to the harmful arcing condition. Off-line analysis of the EDM process under different conditions is presented with this parameter as the response variable. Development of the control strategy using the results of this analysis is illustrated. Implementation of the strategy by means of a Motorola microcomputer is described. A comparison of metal removal rate (MRR), surface roughness, and tool wear for the computer control and the optimal manual adjustment recommended by the EDM machine manufacturer is presented. It shows that the computer control yields an increase in the MRR of 47 percent and 19 percent, while the ratio of tool wear to MRR reduces by 26 percent and 16 percent, respectively, in finishing and roughing conditions.

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