scholarly journals Robust Control and Stability Analysis of Computerized Numeric Controlled Machine Tool under Parametric Uncertainty

2020 ◽  
Vol 53 (5) ◽  
pp. 661-670
Author(s):  
Anil Kumar Yadav ◽  
Pawan Kumar Pathak ◽  
Prerna Gaur
Keyword(s):  
Machine Tool ◽  
Position Control ◽  
Robustness Analysis ◽  
Stability Margin ◽  
Parametric Uncertainty ◽  
Internal Model Control ◽  
Servo Motor ◽  
Control Techniques ◽  
Model Control ◽  
The Stability

The objective of this paper is to design three different robust controllers such as proportional-integral (PI), internal model control (IMC), and H∞ control techniques for position control of the computerized numeric controlled machine tool (CNCMT) system. The proposed controllers aim to control the servo motor that regulates the position of the machine table and also enhances the robustness of the CNCMT system under the influence of parametric uncertainties. The stability of the uncertain CNCMT system with all designed controllers is investigated using Kharitonov’s theorem. The stability margin (SM) criterion is utilized for robustness analysis.

scholarly journals Improved Internal Model Control Technique for Position Control of AC Servo Motors

2020 ◽  
Vol 19 (1) ◽  
pp. 33-40
Author(s):  
Abdul Wali Abdul Ali ◽  
Abdullah Hadi Alquhali
Keyword(s):  
Internal Model ◽  
Position Control ◽  
Internal Model Control ◽  
Control Technique ◽  
Step Response ◽  
Servo Motor ◽  
External Disturbances ◽  
Ac Servo ◽  
Model Control ◽  
Ac Servo Motor

This paper focuses on the simulation analysis of the conventional Internal Model Control (IMC) technique and the development of two proposed control techniques for the position control of AC Servo Motor. Internal Model Control (IMC) technique [1] was only able to control the AC Servo Motor under static load condition. Also, it had step response problems, and it was not robust against external disturbances. For these reasons, the IMC technique was further improved to control the AC Servo Motor under dynamic load conditions by proposing Amended Internal Model Controller (AIMC). The step response and the robustness of AIMC against external disturbances were further improved by proposing AIMC+FLC. Where a Fuzzy Logic Controller (FLC) is designed and connected with the AIMC.

Discrete-time Inversion Model Control of a Double-damper System with Uncertain Parameters

2017 ◽  
Vol 6 (3) ◽  
pp. 168
Author(s):  
Marwa Hannachi ◽  
Ikbel Bencheikh Ahmed ◽  
Dhaou Soudani
Keyword(s):  
Discrete Time ◽  
Algebraic Approach ◽  
Building Blocks ◽  
Internal Model Control ◽  
Linear Matrix ◽  
Stability Conditions ◽  
Time Inversion ◽  
Time Model ◽  
Model Control ◽  
The Stability

<span>This paper addresses the control at discrete time of physical complex systems multi-inputs multi-outputs with variables parameters. Classified among the robust control laws the Internal Model Control (IMC) is adopted in this work to ensure the desired performances adjacent to the complexities of the system. However, the application of this control strategy requires that these different building blocks be open loop stable, which invites us, on the one hand, to apply the algebraic approach of Kharitinov for delimiting the summits stability domain’s system. On the other case, the Linear Matrix Inequalities (LMI) approach is applied to determine the corrector’s stability conditions obtained by a specific inversion of the chosen model. It is in this sense that we contribute by this work to execute the command by inversion the discrete-time model in order to ensure the stability and to maintain the performances the stability conditions of required for the double damper system with variable parameters.</span>

An Internal Model Control Based Static Anti-Windup Scheme With Improved Performance

2010 ◽  
Author(s):  
Wei Wu
Keyword(s):  
Internal Model ◽  
Input Saturation ◽  
Internal Model Control ◽  
Controller Synthesis ◽  
Linear Matrix ◽  
Constrained System ◽  
Stability Robustness ◽  
Model Control ◽  
Improved Performance ◽  
The Stability

This paper considers the synthesis of static anti-windup (AW) compensation within the internal model control (IMC) AW framework for stable plants subject to input saturation. Built on the conventional IMC AW scheme which preserves the stability and the stability robustness of the unconstrained system, the proposed static AW compensation improves the constrained system performance. L2 gain performance of the constrained system is considered for the static AW controller synthesis, resulting in a linear matrix inqualitiy. The effectiveness of this AW scheme is demonstrated by comparison with two AW methods from the literature through using two numerical examples.

Two fuzzy internal model control methods for nonlinear uncertain systems

2017 ◽  
Vol 10 (2) ◽  
pp. 223-240 ◽  
Author(s):  
Amira Aydi ◽  
Mohamed Djemel ◽  
Mohamed Chtourou
Keyword(s):  
Internal Model ◽  
Fuzzy Model ◽  
Internal Model Control ◽  
Local Model ◽  
Parametric Uncertainties ◽  
Local Models ◽  
Content Type ◽  
Model Control ◽  
The Stability ◽  
Takagi Sugeno

Purpose The purpose of this paper is to use the internal model control to deal with nonlinear stable systems affected by parametric uncertainties. Design/methodology/approach The dynamics of a considered system are approximated by a Takagi-Sugeno fuzzy model. The parameters of the fuzzy rules premises are determined manually. However, the parameters of the fuzzy rules conclusions are updated using the descent gradient method under inequality constraints in order to ensure the stability of each local model. In fact, without making these constraints the training algorithm can procure one or several unstable local models even if the desired accuracy in the training step is achieved. The considered robust control approach is the internal model. It is synthesized based on the Takagi-Sugeno fuzzy model. Two control strategies are considered. The first one is based on the parallel distribution compensation principle. It consists in associating an internal model control for each local model. However, for the second strategy, the control law is computed based on the global Takagi-Sugeno fuzzy model. Findings According to the simulation results, the stability of all local models is obtained and the proposed fuzzy internal model control approaches ensure robustness against parametric uncertainties. Originality/value This paper introduces a method for the identification of fuzzy model parameters ensuring the stability of all local models. Using the resulting fuzzy model, two fuzzy internal model control designs are presented.

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