A Design Method of Pole Placement and Observer for Non-Lexicographically-Fixed Linear Time-Varying Discrete MIMO Systems

2013 ◽  
Vol 133 (2) ◽  
pp. 365-372
Author(s):  
Yasuhiko Mutoh ◽  
Tomohiro Hara
Keyword(s):  
Mimo Systems ◽  
Linear Time ◽  
Design Method ◽  
Pole Placement ◽  
Time Varying

Pole placement for linear time-varying non-lexicographically fixed MIMO systems

Automatica ◽  
1999 ◽  
Vol 35 (1) ◽  
pp. 101-108 ◽  
Author(s):  
Michael Valášek ◽  
Nejat Olgaç
Keyword(s):  
Mimo Systems ◽  
Linear Time ◽  
Pole Placement ◽  
Time Varying

A Control Method for Non-Linear Time-Varying System Using Mixed H2/H∞ Control: Position and Force Control of 2-Link Manipulator

2001 ◽  
Author(s):  
Itsuro Kajiwara ◽  
Katsuhiro Yambe ◽  
Chiaki Nishidome
Keyword(s):  
Control Method ◽  
Linear Time ◽  
Gain Scheduling ◽  
Operating Conditions ◽  
Pole Placement ◽  
Time Varying ◽  
Linear Time Invariant ◽  
Highly Nonlinear ◽  
Switching Controller ◽  
Time Invariant

Abstract Dynamics of multi-link manipulators are highly nonlinear and depend on the time varying configuration. This paper presents a method of gain scheduling which consists in designing a linear time invariant (LTI) controller for each operating point and in switching controller when the operating conditions change. Each LTI controller is designed based on LMI approach in which an optimization problem is defined as a mixed H2/H∞ control problem with pole placement. The performance of the force and the position controls is defined by the H2 norm, and the robust stability according to gain scheduling is evaluated with the H∞ norm and the pole placement of the closed-loop system. The effectiveness and the practicability of the proposed method are verified by both simulations and experiments with 2-link manipulator system.

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