A three-loop model-following control structure: theory and implementation

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

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Robust Performance of a Stable and an Unstable Interval Plant in the Two Loop Model Following Control Structure

Journal of The Institution of Engineers (India) Series B ◽

10.1007/s40031-012-0017-9 ◽

2012 ◽

Vol 93 (2) ◽

pp. 81-90 ◽

Cited By ~ 1

Author(s):

S. Bhusnur ◽

S. Ray

Keyword(s):

Control Structure ◽

Loop Model ◽

Robust Performance ◽

Model Following Control ◽

Model Following

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A new sensorless speed control structure for PMSM using reference model

Bulletin of the Polish Academy of Sciences Technical Sciences ◽

10.1515/bpasts-2017-0054 ◽

2017 ◽

Vol 65 (4) ◽

pp. 489-496 ◽

Cited By ~ 4

Author(s):

K. Urbanski

Keyword(s):

Control Structure ◽

Reference Model ◽

Main Idea ◽

Position Estimation ◽

Precise Control ◽

Model Following Control ◽

Model Following ◽

Voltage Vector ◽

Speed Range ◽

Motor Model

AbstractIn the paper a new sensorless control structure for the PMSM drive is presented. Such a structure is especially recommended for speed in the range of single revolutions per second (excluding standstill). The method uses a back EMF observer for position estimation. However, there is no need to estimate the speed. This is a big advantage because of possible irregularity of estimated back EMF in this speed range, which makes the calculation of speed difficult or impossible. The proposed structure is similar to the model following control, but the reference model attempts to track the motor operating point. The main idea is to utilize as a reference a model of the whole drive, including speed and current controllers and motor model. Such a model produces reference voltage for the real inverter. However, an extra unit – called rotator – is needed to provide precise control of direct axis current, which is sensitive to the improper position of the voltage vector. The rotator acts as a kind of compensator for error of position estimation.

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Design and Analysis of Model Following Control Structure with Nonlinear Plant

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.180.3 ◽

2011 ◽

Vol 180 ◽

pp. 3-10

Author(s):

Jerzy Brzózka

Keyword(s):

Control Systems ◽

Control Structure ◽

Linear Control Systems ◽

Input State ◽

Nonlinear Characteristics ◽

Linearization Methods ◽

Model Following Control ◽

Model Following ◽

Course Control ◽

Nonlinear Plant

Abstract. Linearization methods of the object: input-state and input-output linearization are used usually in a standard feedback control system. However, these systems are sensitive to the changes of nonlinear characteristics of the plant. These changes can be compensated in two types of control systems: in the model following control (MFC) and adaptive. The article presents the first solution and contains: miscellaneous structures of linear control systems with model following, brief description of the linearization’s methods, simulation example of the course control of vessel and the advantages of this solution.

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