scholarly journals Comparative study of zero effects in pole-placement control system design via the shift and delta transforms

2005 ◽  
Vol 18 (3) ◽  
pp. 439-451
Author(s):  
Milica Naumovic
Keyword(s):  
Control System ◽  
System Design ◽  
Pole Placement ◽  
Control System Design ◽  
Single Input Single Output ◽  
Single Output ◽  
Continuous Time Systems ◽  
Single Input ◽  
Pole Placement Control ◽  
Time Systems

This paper deals with the special replacement of the shift operator and its associated z transform by delta operator and ? transform, respectively. The aim of the paper is to clarify the role of zeros of discretized linear single input single output continuous-time systems modeled by shift and delta operators. In particular, the effect of zero dynamics on the control system design based on classical pole-zero assignment in the case of both operators is considered. The analysis is illustrated by simulation results.

REALIZATION PROBLEM FOR POSITIVE CONTINUOUS-TIME SYSTEMS WITH DELAYS

2006 ◽  
Vol 06 (02) ◽  
pp. 289-298 ◽  
Author(s):  
KACZOREK TADEUSZ
Keyword(s):  
Continuous Time ◽  
Sufficient Conditions ◽  
Realization Problem ◽  
Single Input Single Output ◽  
Single Output ◽  
Continuous Time Systems ◽  
Single Input ◽  
Minimal Realizations ◽  
Time Systems ◽  
Time Linear

The realization problem for positive, continuous-time linear single-input, single-output systems with delays is formulated and solved. Sufficient conditions for the existence of positive realizations of a given proper transfer function are established. A procedure for computation of positive minimal realizations is presented and illustrated by an example.

A pole placement controller for non-linear dynamic plants

2002 ◽  
Vol 216 (6) ◽  
pp. 467-476 ◽  
Author(s):  
Q M Zhu ◽  
L Z Guo
Keyword(s):  
Control System ◽  
System Design ◽  
Discrete Time ◽  
Linear Control System ◽  
Linear Control ◽  
Pole Placement ◽  
Hammerstein Model ◽  
Control System Design ◽  
Non Linear ◽  
Pole Placement Controller

In this study a control-oriented model is proposed to represent a wide range of non-linear discrete-time dynamic plants. As a testimony to the efficiency of the model structure for control system design, a pole placement controller is designed for non-linear discrete-time plants. Mathematically the solution of the controller output is converted into resolving a polynomial equation in the current control term u( t), which significantly reduces the difficulties encountered in non-linear control system synthesis and computational complexities. The integrated procedure provides a straightforward methodology to use in linear control system design techniques when designing non-linear control systems. For a demonstration of the effectiveness of the proposed methodology used to deal with practical problems, pole placement controllers are designed for three non-linear plants, including the Hammerstein model, a laboratory-scale liquid level system and a continuous stirred tank reactor. The simulation results are presented with graphical illustrations.

Isotropic Compliance in E(3): Feasibility and Workspace Mapping

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Matteo Verotti ◽  
Nicola P. Belfiore
Keyword(s):  
Control System ◽  
Euclidean Space ◽  
Joint Control ◽  
Control Law ◽  
Single Input Single Output ◽  
Gain Ratio ◽  
Single Output ◽  
Control Gain ◽  
Single Input ◽  
Manipulator Control

A manipulator control system, for which isotropic compliance holds in the Euclidean space E(3), can be significantly simplified by means of diagonal decoupling. However, such simplification may introduce some limits to the region of the workspace where the sought property can be achieved. The present investigation reveals how to detect which peculiar subset, among four different classes, a given manipulator belongs to. The paper also introduces the concept of control gain ratio for each specific single-input/single-output joint control law in order to limit the maximum gain required to achieve the isotropic compliance condition.

scholarly journals MIMO Passive Control Systems Are Not Necessarily Robust

2015 ◽  
Vol 2015 ◽  
pp. 1-6
Author(s):  
Jesús U. Liceaga-Castro ◽  
Irma I. Siller-Alcalá ◽  
Eduardo Liceaga-Castro ◽  
Luis A. Amézquita-Brooks
Keyword(s):  
Control System ◽  
Structure Function ◽  
Control Systems ◽  
Passive Control ◽  
Linear Control System ◽  
Linear Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input

Via several cases of study it is shown that a passive multivariable linear control system, contrary to its single input single output counterpart, may not be robust. Moreover, it is shown that lack of robustness can be exposed via the multivariable structure function.

scholarly journals Dual-rate Control System Based on Open-loop Input/Output Data for a Single-input Single-output System

2016 ◽  
Vol 29 (5) ◽  
pp. 231-233 ◽  
Author(s):  
Takahiro Honda ◽  
Takao Sato ◽  
Nozomu Araki ◽  
Yasuo Konishi
Keyword(s):  
Control System ◽  
Rate Control ◽  
Open Loop ◽  
Input Output ◽  
Output Data ◽  
Single Input Single Output ◽  
Single Output ◽  
Output System ◽  
Single Input

Double-Input Multi-Output Pressure Control System Based on Addressable Pressure Component

2021 ◽  
Author(s):  
Qiandiao Wei ◽  
He Xu ◽  
Siqing Chen ◽  
Weiwang Fan
Keyword(s):  
Control System ◽  
Control Method ◽  
Pressure Control ◽  
Supply Source ◽  
Single Input Single Output ◽  
Square Wave ◽  
Output Pressure ◽  
Single Output ◽  
Pressure Control System ◽  
Single Input

Abstract Soft robots driven by pressurized fluid have recently been attracted more attention and achieved a variety of innovative applications in bionics, medical surgery, rehabilitation, search, and rescue system. And they have been demonstrated to be able to perform many different tasks, especially in some conditions of demand a high degree of compliance. Generally, they consisted of multiple actuate channels that require independent works. Consequently, a mass of pressure regulators and input pipelines are demanded, which will increase the complexity of the control system. To solve this problem, we propose a new pressure control method inspired by the control bus of electronic interface technology in this paper. An addressable pressure control bus system based on band-pass valve (BPV) and square wave of pressure (control signal) was designed. It consisted of a pressure supply source and an addressing signal, they are controled by two regulators, respectively. One of the pressure pipelines serves as the control bus to transmit the control pressure signal, which plays an addressing signal role in the system. The other serves as the pressure supply source of the multi-channel actuators. The BPV can be set to different opening pressure bands to realize the setting of diverse outputs address codes on the bus. This method discovered the work mode of double-input multi-output, which will get rids of the traditional control method of single-input single-output. In this paper, we designed the BPV and tested its function. To demonstrate the feasibility of this method proposed, a control system with two output ports was established. The result has shown that the output port can be selected by the pressure square wave signal, which realizes the function of single input multiple outputs. It reduces the complexity of the control strategy of the fluid control system.

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