Ramp Tracking in Systems With Nonminimum Phase Zeros: One-and-a-Half Integrator Approach

2016 ◽  
Vol 138 (3) ◽  
Author(s):  
Mohammad Saleh Tavazoei
Keyword(s):  
Control System ◽  
Dynamical Systems ◽  
Transfer Function ◽  
Fractional Calculus ◽  
Control Law ◽  
Nonminimum Phase ◽  
Numerical Examples ◽  
Loop Transfer Function ◽  
Asymptotic Tracking

In this paper, a simple fractional calculus-based control law is proposed for asymptotic tracking of ramp reference inputs in dynamical systems. Without need to add any zero to the loop transfer function, the proposed technique can guarantee asymptotic ramp tracking in plants having nonminimum phase zeros. The appropriate range for determining the parameters of the proposed control law is also specified. Moreover, the performance of the designed control system in tracking ramp reference inputs is illustrated by different numerical examples.

On the Vibration of a Translating String Coupled to Hydrodynamic Bearings

1990 ◽  
Vol 112 (3) ◽  
pp. 337-345 ◽  
Author(s):  
C. A. Tan ◽  
B. Yang ◽  
C. D. Mote
Keyword(s):  
Control System ◽  
Transfer Function ◽  
Spatial Location ◽  
System Response ◽  
Thickness Variation ◽  
Translation Speed ◽  
Impedance Function ◽  
Hydrodynamic Bearing ◽  
Loop Transfer Function ◽  
Bearing Force

The vibration of a translating string, controlled through hydrodynamic bearing forces, is analyzed by the transfer function method. Interactions between the string response and the bearing film are described by the bearing impedance function. This function depends on the string translation speed, the frequency of the film thickness variation, and the spatial location of the bearings. The control system consists of the translating string, bearings, actuators and sensors, and feedback elements. An integral formulation of the controlled system response is proposed that leads to the closed-loop transfer function. The frequency response of the control system is studied in the system parameter space. The feasibility of adding active control to improve the bearing force control is also considered.

Robust Feedback Control of a Baffled Plate via Open-Loop Optimization

2001 ◽  
Vol 124 (1) ◽  
pp. 154-157 ◽  
Author(s):  
P. De Man ◽  
A. Franc¸ois ◽  
A. Preumont
Keyword(s):  
Genetic Algorithm ◽  
Control System ◽  
Transfer Function ◽  
Open Loop ◽  
Displacement Sensor ◽  
Search Procedure ◽  
Loop Optimization ◽  
Loop Transfer Function ◽  
Poles And Zeros ◽  
Siso System

A SISO control system is built by using a volume displacement sensor and a set of actuators driven in parallel with a single amplifier. The actuators location is optimized to achieve an open-loop transfer function which exhibits alternating poles and zeros, as for systems with collocated actuators and sensors; the search procedure uses a genetic algorithm. The ability of a simple lead compensator to control this SISO system is numerically demonstrated.

Research on Accessibility of Integral Sliding Mode Contorl of Missile System

2011 ◽  
Vol 66-68 ◽  
pp. 212-216
Author(s):  
Wen Guang Zhang ◽  
Jun Wei Lei ◽  
Ling Ling Wang
Keyword(s):  
Control System ◽  
Transfer Function ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Law ◽  
Overload Control ◽  
Function Type ◽  
Dynamic Coefficients ◽  
Missile System ◽  
Backstepping Algorithm

Considering the no uncertain air-dynamic coefficients situation, a kind of sliding mode control law, which was composed of the angle velocity and overload error, was designed for the overload control system of missile. And the accessibility of sliding mode was analyzed. What worthy pointing out is that a transfer- function-type backstepping algorithm was adopted to solve the derivative item of actuator and a novel type of control was proposed.

Kinematics, Dynamics, and Control of Tendon-Driven Mechanisms Using Signal Flow Graphs

1998 ◽  
Author(s):  
Meng-Sang Chew ◽  
Theeraphong Wongratanaphisan
Keyword(s):  
Control System ◽  
Transfer Function ◽  
Closed Loop ◽  
Transfer Functions ◽  
Signal Flow ◽  
Signal Flow Graphs ◽  
Loop Transfer Function ◽  
Dynamics And Control ◽  
Flow Graphs ◽  
And Control

Abstract This paper presents the analysis of the kinematics, dynamics and controls of tendon-driven mechanism under the framework of signal flow graphs. For decades, the signal flow graphs have been applied in many areas, particularly in controls, for determining the closed-loop transfer function of a control system. The tendon-driven mechanism considered here consists of several subsystems including actuator-controller dynamics, mechanism kinematics and mechanism dynamics. Each subsystem will be derived and represented by signal flow graphs. The representation of the whole system can be carried out by connecting the graphs of subsystems at the corresponding nodes. Transfer functions can then be obtained by using Mason’s rules. A 3-DOF robot finger utilizing tendon-driven mechanism is used as an illustrative example.

scholarly journals Robust Performance Limitations and Design of Controlled Delayed Systems

2004 ◽  
Vol 126 (4) ◽  
pp. 899-904 ◽  
Author(s):  
O. Yaniv ◽  
M. Nagurka
Keyword(s):  
Transfer Function ◽  
Control Design ◽  
Open Loop ◽  
Phase Margin ◽  
Delayed Systems ◽  
Nonminimum Phase ◽  
Loop Transfer Function ◽  
Performance Limitations ◽  
Pure Delay ◽  
Selection Of

This paper presents performance limitations and a control design methodology for nonminimum phase plants of the pure delay type subject to robustness constraints. Of interest is the design of a set of controllers, for which the open-loop transfer function is a proportional-integral (PI) controller plus delay, meeting constraints on the magnitude of the closed-loop transfer function and on the plant gain uncertainty. These two specifications are used to characterize the robustness, and are a recommended alternative to the gain and phase margin constraints. A control design plot is presented which allows for selection of controller parameters including those for the lowest sensitivity controller, and graphically highlights gain and phase margin tradeoffs. The paper discusses limitations of performance of such systems in terms of crossover frequency and sensitivity. In addition, expressions and design plots are provided for a simplified approximate solution.

A Fractional Calculus Perspective of PID Tuning

2003 ◽  
Author(s):  
Ramiro S. Barbosa ◽  
J. A. Tenreiro Machado ◽  
Isabel M. Ferreira
Keyword(s):  
Transfer Function ◽  
Fractional Calculus ◽  
Fractional Order ◽  
Pid Controller ◽  
Open Loop ◽  
Controller Tuning ◽  
Pid Tuning ◽  
Loop Transfer Function ◽  
Pid Controller Tuning ◽  
Fractional Order Integrator

This paper gives an interpretation of the classical PID controller tuning based on the fractional calculus theory. The PID parameters are calculated according with the specifications of an elementary system whose open-loop transfer function is a fractional order integrator (FOI). The performances of the two systems are compared and illustrated through the frequency and time responses.

Structure about the Dual-Axis Speed Turntable and its’ Stability Analysis

2012 ◽  
Vol 235 ◽  
pp. 186-191
Author(s):  
Gui Ying Lu ◽  
Yuan Sheng Wang ◽  
Bo Li ◽  
Juan Yu
Keyword(s):  
Control System ◽  
Transfer Function ◽  
Block Diagram ◽  
Stability Margin ◽  
Open Loop ◽  
Digital Controller ◽  
Loop Control ◽  
Rate Table ◽  
Loop Transfer Function ◽  
Loop Control System

The structure and its function about a dual-axis rate turntable has been elaborated, its principle block diagram of control system is given. And its electromechanical system’s transfer function of the dual-axis rate table has been calculated and simplified reasonably based on experiments and practical situation, then a double loop control system constituted with a speed loop and a stabilization loop is got. Its’ correction link of the stabilization loop is calculated, which has a 2-order open loop transfer function. In order to achieve a suitable stability margin, the corresponding digital controller is designed, and its’ pulse transfer function response and the three-step iterative simulation results to a same sinusoidal excitation are got and compared, the same results verified the correctness of the design to the correction link.

scholarly journals Minimal positive realizations of linear continuous-time fractional descriptor systems: Two cases of an input-output digraph structure

2018 ◽  
Vol 28 (1) ◽  
pp. 9-24 ◽  
Author(s):  
Konrad Andrzej Markowski
Keyword(s):  
Transfer Function ◽  
Fractional Calculus ◽  
Continuous Time ◽  
Descriptor Systems ◽  
Positive System ◽  
Input Output ◽  
Realization Problem ◽  
Numerical Examples ◽  
One Dimensional ◽  
First Time

AbstractIn the last two decades, fractional calculus has become a subject of great interest in various areas of physics, biology, economics and other sciences. The idea of such a generalization was mentioned by Leibniz and L’Hospital. Fractional calculus has been found to be a very useful tool for modeling linear systems. In this paper, a method for computation of a set of a minimal positive realization of a given transfer function of linear fractional continuous-time descriptor systems has been presented. The proposed method is based on digraph theory. Also, two cases of a possible input-output digraph structure are investigated and discussed. It should be noted that a digraph mask is introduced and used for the first time to solve a minimal positive realization problem. For the presented method, an algorithm was also constructed. The proposed solution allows minimal digraph construction for any one-dimensional fractional positive system. The proposed method is discussed and illustrated in detail with some numerical examples.

scholarly journals Relative Stability of Electrical into Mechanical Conversion with BLDC Motor-Cascade Control

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 704
Author(s):  
Sylwester Sobieraj ◽  
Grzegorz Sieklucki ◽  
Józef Gromba
Keyword(s):  
Transfer Function ◽  
Relative Stability ◽  
Power Supply System ◽  
Theoretical Calculations ◽  
Electrical Energy ◽  
Cascade Control ◽  
Bldc Motor ◽  
Cascade System ◽  
Loop Transfer Function ◽  
Basic Parameters

The conversion of the electrical energy into the mechanical is usually realized by a motor, power electronics and cascade control. The relative stability (Θ-stability), i.e., the displacement of its eigenvalues of this system is analyzed for a drive with a BLDC motor. The influence of changing the basic parameters of the motor and power supply system on the drive operation is considered. 4th order closed-loop transfer-function of the cascade control is presented, where boundaries of the transfer-function coefficients are used. The cascade system which uncertainty of the resistance, inductance, flux and gain parameters is analyzed. Theoretical calculations for the cascade control, simulations and laboratory tests are included in the article.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

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