A Left-inverse Non-linear Controller to a RRR Manipulator

Author(s):  
Igor Lopes ◽  
Samaherni Dias ◽  
Kurios Queiroz
Author(s):  
Luigi Galotto ◽  
Carlos A. Canesin ◽  
Raimundo Cordero ◽  
Cristiano A. Quevedo ◽  
Rubenz Gazineu

1971 ◽  
Vol 4 (9) ◽  
pp. T151-T157 ◽  
Author(s):  
P D Roberts

The paper describes a digital simulation study of the application of a non-linear controller to the regulation of a single stage neutralisation process. In the controller, the proportional gain increases with amplitude of controller error signal. The performance of the non-linear controller is compared with that of a conventional linear controller and with the performance obtained by employing a linear controller with a linearisation network designed to compensate for the non-linear characteristic of the neutralisation curve. Although the performance of the non-linear controller is inferior to that obtained by employing a perfect linearisation network, its performance is still considerably superior to that obtained by using a conventional linear controller when operating at a symmetrical point on the neutralisation curve. In contrast to the linearisation network technique, the non-linear controller contains only one extra parameter and can be readily tuned on-line without prior knowledge of the neutralisation curve. Hence, it can be considered as an attractive alternative for the control of neutralisation processes.


Energies ◽  
2019 ◽  
Vol 12 (4) ◽  
pp. 713 ◽  
Author(s):  
Md Alam ◽  
Mohammad Abido ◽  
Alaa Hussein

This paper proposes a non-linear control-based variable resistive bridge type fault current limiter (VR-BFCL) as a prospective solution to ease the effect of disturbances on voltage source converter-based high voltage DC (VSC-HVDC) systems. A non-linear controller for VR-BFCL has been developed to insert a variable optimum resistance during the inception of system disturbances in order to limit the fault current. The non-linear controller takes the amount of DC link voltage deviation as its input and provides variable duty to generate a variable effective resistance during faults. The VSC-HVDC system’s real and reactive power controllers have been developed based on a current control loop where direct axis and quadrature axis currents are used to control the active and reactive power, respectively. The efficacy of the proposed non-linear control-based VR-BFCL solution has been proved with balanced as well as unbalanced faults. The results confirm that the oscillations in active power and DC link voltage have been significantly reduced by limiting the fault current through the insertion of an optimum effective resistance with the proposed control technique. The real time digital simulator (RTDS) has been used to implement the proposed approach. The performance of the proposed non-linear control based VR-BFCL is compared with that of traditional fixed duty control.


Sign in / Sign up

Export Citation Format

Share Document