Robust polynomial eigenstructure assignment using dynamic feedback controllers

1997 ◽  
Vol 211 (1) ◽  
pp. 35-51 ◽  
Author(s):  
B A White
Keyword(s):  
Eigenstructure Assignment ◽  
Systematic Design ◽  
Dynamic Feedback ◽  
Feedback Controllers ◽  
Single Input Single Output ◽  
Single Output ◽  
Stability Robustness ◽  
Single Input ◽  
And Performance ◽  
Value Decomposition

This paper presents a dynamic controller format for use in polynomial eigenstructure assignment. It formulates the controller in singular-value decomposition format, which enables the designer to use simple SISO (single-input, single-output) compensators, together with direction matrices to construct the controller. The technique utilizes the root locus to evaluate stability and performance. It also introduces several metrics for decoupling, disturbance rejection, actuator movement and stability robustness in a graphical manner that allows a systematic design to be carried out. The paper also includes a two-input, two-output design example to illustrate the technique.

Multivariable Loop-Shaping in Bilateral Telemanipulation

2005 ◽  
Vol 128 (3) ◽  
pp. 482-488 ◽  
Author(s):  
Kevin B. Fite ◽  
Michael Goldfarb
Keyword(s):  
Impedance Control ◽  
Singular Values ◽  
Single Input Single Output ◽  
Single Output ◽  
Stability Robustness ◽  
Loop Shaping ◽  
Single Input ◽  
The Stability ◽  
Three Degree Of Freedom ◽  
And Control

This paper presents an architecture and control methodology for obtaining transparency and stability robustness in a multivariable bilateral teleoperator system. The work presented here extends a previously published single-input, single-output approach to accommodate multivariable systems. The extension entails the use of impedance control techniques, which are introduced to render linear the otherwise nonlinear dynamics of the master and slave manipulators, in addition to a diagonalization multivariable loop shaping technique, used to render tractable the multivariable compensator design. A multivariable measure of transparency is proposed based on the relative singular values of the environment and transmitted impedance matrices. The approach is experimentally demonstrated on a three degree-of-freedom scaled telemanipulator pair with a highly coupled environment. Using direct measurement of the power delivered to the operator to assess the system’s stability robustness, along with the proposed measure of multivariable transparency, the loop-shaping compensation is shown to improve the stability robustness by a factor of two and the transparency by more than a factor of five.

Robust Control of Active Suspensions

2007 ◽  
Author(s):  
Dongsuk Kum ◽  
Huei Peng
Keyword(s):  
Degrees Of Freedom ◽  
Disturbance Attenuation ◽  
Control Synthesis ◽  
Control Architecture ◽  
Single Input Single Output ◽  
Single Output ◽  
Stability Robustness ◽  
Road Disturbance ◽  
Main Culprit ◽  
Single Input

Active suspension has been widely studied in recent decades but the implementation of the single-input, single-output (SISO) force-control architecture that many of the prior studies use has had limited success due to the lightly damped zeros. The inherent trade-off between robust stability and road disturbance attenuation for SISO control architecture is the main culprit. In this paper, we study whether the single-input, two-output (SITO) control architecture provides sufficient degrees of freedom in the control synthesis. First, a quarter car model with an electromagnetic motor is derived and the improved LQG/LTR design technique is employed to simultaneously recover both stability robustness and disturbance attenuation properties at the expense of measurement noise sensitivity. It was found that if the control system is restricted to SISO architecture, sprung mass acceleration is the most promising choice among practical measurements. Both classical and modern control approaches are used to analyze the effectiveness of the proposed method and its closed-loop performance. Simulation results show that stability robustness and disturbance attenuation can be dramatically improved by the SITO architecture over its SISO counterpart.

Searching for Robust Minimal-Order Compensators

1999 ◽  
Vol 123 (2) ◽  
pp. 233-236 ◽  
Author(s):  
Qian Wang ◽  
Robert F. Stengel
Keyword(s):  
Transfer Function ◽  
Design Procedure ◽  
Minimal Order ◽  
Single Input Single Output ◽  
Single Output ◽  
Parameter Variations ◽  
Single Input ◽  
Monte Carlo Evaluation ◽  
And Performance ◽  
Algorithm Search

A method of designing a family of robust compensators for a single-input/single-output linear system is presented. Each compensator’s transfer function is found by using a genetic-algorithm search for numerator and denominator coefficients. The search minimizes the probabilities of unsatisfactory stability and performance subject to real parameter variations of the plant. As the search progresses, probabilities are estimated by Monte Carlo evaluation. The design procedure employs a sweep from the lowest feasible transfer-function order to higher order, terminating either when design goals have been achieved or when no further improvement in robustness is evident. The method provides a means for estimating the best possible compensation of a given order based on repeated searches.

scholarly journals Parametric Robust Control of the Multivariable 2 × 2 Looper System in Steel Hot Rolling: A Comparison between Multivariable QFT and H∞

Metals ◽  
2019 ◽  
Vol 9 (8) ◽  
pp. 839 ◽  
Author(s):  
Luis F. Cantú ◽  
Pedro Mendiola ◽  
Álvaro A. Domínguez ◽  
Alberto Cavazos
Keyword(s):  
Frequency Domain ◽  
Hot Rolling ◽  
Performance Indicators ◽  
Single Input Single Output ◽  
Single Output ◽  
Stability Robustness ◽  
Higher Power ◽  
Single Input ◽  
Hot Rolling Mill ◽  
Looper System

Two robust mutlivariable controllers, H∞ and a decentralized quantitative feedback theory (QFT), are designed in the frequency domain for the 2 × 2 looper system in a steel hot rolling mill to keep stability in the presence of parametric uncertainties. The H∞ controller is designed by using the mixed sensitivity approach, while the multivariable decentralized QFT is designed by the extension of the sequential loop closing method presented elsewhere. Stability robustness conditions are verified in the frequency domain, while simulations in time domain are carried out to evaluate the controllers and compare their performance along with that of proportional + integral (PI) and single input single output (SISO) QFT controllers designed earlier. The QFT controller shows the best balance among the performance indicators analyzed here; however, at the expenses of using higher power in one of the control inputs.

Active Vibration Isolation of Metrology Frames; A Modal Decoupled Control Design

2005 ◽  
Vol 127 (3) ◽  
pp. 223-233 ◽  
Author(s):  
Marcel Heertjes ◽  
Koen de Graaff ◽  
Jan-Gerard van der Toorn
Keyword(s):  
Vibration Isolation ◽  
Isolation System ◽  
Single Input Single Output ◽  
Single Output ◽  
System A ◽  
Active Vibration ◽  
Single Input ◽  
And Performance ◽  
Six Degree Of Freedom ◽  
Active Vibration Isolation

For a six degree-of-freedom active vibration isolation system, a control strategy based on modal decoupling is proposed. This has the advantage of controlling the modal directions on a centralized single-input single-output basis. As a consequence, stability and performance can be imposed in each of the modal directions separately. An experimental demonstration is given using a dummy metrology frame. That is, a 1600 kg payload mass supported by three combined pneumatic and Lorentz controlled isolators. With this setup, two unstable modal directions resulting from a high center of gravity are stabilized without compromising performance in any of the remaining directions. In fact, performance in the remaining directions is enhanced using manual loop shaping.

An Approach to Design Controllers for MIMO Fractional Order System Based on RFN Method

2021 ◽  
Author(s):  
Tingxue Li ◽  
Dingyu Xue ◽  
Xinshu Cui
Keyword(s):  
Fractional Order ◽  
Controller Design ◽  
Order System ◽  
Fractional Order Systems ◽  
Control Effect ◽  
Loop Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input ◽  
Value Decomposition

Abstract Fractional calculus has attracted more and more attention and is applied in different fields. However the controller design techniques for fractional order systems mostly focus on single input single output (SISO) ones. This paper deals with the design of controllers for multiple inputs multiple outputs (MIMO) fractional order systems. A method to synthetize controller based on the eigenvalue function and singular value decomposition (SVD) is proposed with aid of fractional order transfer function (FOTF) MATLAB toolbox for the computation and fitting. Instead of setting specification to the controller, the method proposed aiming at achieving the target closed-loop control effect of the system as a whole. Several models evolved from fractional-order Proportional-Integral-Derivative (fPID) controller are selected to form the designed multivariable controller. The effectiveness and robustness of the proposed method are illustrated by an example via simulation.

Comparative analysis of SISO and wavelength diversity-based FSO systems at different transmitter power levels

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Varun Srivastava ◽  
Abhilash Mandloi ◽  
Dhiraj Kumar Patel
Keyword(s):  
Optical Signal ◽  
Free Space Optical ◽  
Optical Source ◽  
Transmit Power ◽  
Single Input Single Output ◽  
Transmitter Power ◽  
Single Output ◽  
Communication Links ◽  
Single Input ◽  
Matching Performance

AbstractFree space optical (FSO) communication refers to a line of sight technology, which comprises optical source and detector to create a link without the use of physical connections. Similar to other wireless communication links, these are severely affected by losses that emerged due to atmospheric turbulence and lead to deteriorated intensity of the optical signal at the receiver. This impairment can be compensated easily by enhancing the transmitter power. However, increasing the transmitter power has some limitations as per radiation regulations. The requirement of high transmit power can be reduced by employing diversity methods. This paper presents, a wavelength-based diversity method with equal gain combining receiver, an effective technique to provide matching performance to single input single output at a comparatively low transmit power.

Sign in / Sign up

Export Citation Format

Share Document