Feedback gain sensitivities of closed-loop modal parameters of controlled structures

1993 ◽  
Vol 16 (5) ◽  
pp. 892-898
Author(s):  
James A. Fabunmi
Keyword(s):  
Closed Loop ◽  
Modal Parameters ◽  
Feedback Gain ◽  
Controlled Structures

A Note on Pole Placement of Mechanical Systems

1991 ◽  
Vol 113 (3) ◽  
pp. 420-421 ◽  
Author(s):  
C. Minas ◽  
D. J. Inman
Keyword(s):  
Least Squares ◽  
Canonical Form ◽  
Output Feedback ◽  
Closed Loop ◽  
Weighted Least Squares ◽  
Mechanical Systems ◽  
Pole Placement ◽  
Feedback Gain ◽  
Closed Loop System ◽  
Feedback Method

An output feedback method is developed, that systematically places a desired number of poles of a closed-loop system at or near desired locations. The system is transformed to its equivalent controllable canonical form, where the output feedback gain matrix is calculated in a weighted least squares scheme, that minimizes the change of the remaining modes of the system. The advantage of this method over other pole placement routines is the fact that the influence on the remaining unplaced modes of the system is minimum, which is particularly important in preserving closed-loop stability.

Effect of joint stiffness on the dynamic stability of a one-link force-controlled manipulator

Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 339-342
Author(s):  
Bing C. Chiou ◽  
M. Shahinpoor
Keyword(s):  
Dynamic Stability ◽  
Closed Loop ◽  
Force Feedback ◽  
Joint Stiffness ◽  
Stable Limit Cycle ◽  
Critical Value ◽  
Interaction Process ◽  
Feedback Gain ◽  
Stable Limit ◽  
Damping Force

SUMMARYStudies are the effects of joint flexibility on the dynamic stability of a one-link force-controlled manipulator. The closed-loop dynamic equation with the explicit force controller and the damping force controller are first derived. Stability analysis is then carried out by computing the system eigenvalues. Results indicate a conditionally stable system. Due to the presence of discontinuous contacts with the environment during the interaction process, the system exhibits a stable limit cycle when the force feedback gain goes beyond the critical value.

Exponential Stabilization of Delayed Chaotic Memristive Neural Networks Via Aperiodically Intermittent Control

2020 ◽  
Vol 30 (02) ◽  
pp. 2050029
Author(s):  
Yuxia Li ◽  
Li Wang ◽  
Xia Huang
Keyword(s):  
Neural Networks ◽  
Closed Loop ◽  
Control Period ◽  
Exponential Stabilization ◽  
Interval Matrix ◽  
Feedback Gain ◽  
Intermittent Control ◽  
Memristive Neural Networks ◽  
Control Cost ◽  
The Relationship

This paper investigates the exponential stabilization of delayed chaotic memristive neural networks (MNNs) via aperiodically intermittent control. The issue is proposed for two reasons: (1) The control signal may not always exist in practical applications; (2) How to enlarge the maximum allowable failure interval (MAFI) for sensors is a challenging problem. To surmount these difficulties, an index called the largest proportion of the rest width (LPRW) in the control period is proposed to measure the MAFI in the sense of guaranteeing the closed-loop system performance with the least control cost. Then, by constructing suitable Lyapunov functional in combination with interval matrix method and Halanay inequality, a stabilization criterion is established to determine the relationship between the feedback gain and the LPRW. Meanwhile, an algorithm is proposed to qualitatively analyze the relationship between the feedback gain and the LPRW. In contrast with the previous works, our results can increase the value of LPRW while still maintaining the stability of the closed-loop MNNs. Finally, some comparisons of simulation results demonstrate that the obtained stabilization criterion has some advantages over the existing ones.

Optimizing the Feedback Gains of the Robust Linear Regulator

1999 ◽  
Vol 121 (3) ◽  
pp. 346-350
Author(s):  
Jie Huang
Keyword(s):  
Computer Simulation ◽  
Steady State ◽  
Transient Response ◽  
Closed Loop ◽  
Feedback Gain ◽  
Frobenius Norm ◽  
Closed Loop System ◽  
Optimal Feedback ◽  
Linear Regulator ◽  
Fixed Set

This paper aims to improve the transient response of a linear regulator system by optimizing the feedback gains associated with a fixed set of desirable eigenvalues of the closed-loop system. The optimal feedback gain is such that the Frobenius norm of the steady state of the compensator is minimized. Computer simulation shows that this scheme is effective in improving the transient response of the regulator system.

scholarly journals Output-Feedback Position Tracking Servo System with Feedback Gain Learning Mechanism via Order-Reduction Speed-Error-Stabilization Approach

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 324
Author(s):  
Sung Hyun You ◽  
Seok-Kyoon Kim ◽  
Hyun Duck Choi
Keyword(s):  
System Parameter ◽  
Closed Loop ◽  
Order Reduction ◽  
Feedback Gain ◽  
Position Tracking ◽  
Position Measurement ◽  
Servo Systems ◽  
Learning Mechanism ◽  
Speed Error ◽  
Hardware Configuration

This paper presents a novel trajectory-tracking technique for servo systems treating only the position measurement as the output subject to practical concerns: system parameter and load uncertainties. There are two main contributions: (a) the use of observers without system parameter information for estimating the position reference derivative and speed and acceleration errors and (b) an order reduction exponential speed error stabilizer via active damping injection to enable the application of a feedback-gain-learning position-tracking action. A hardware configuration using a QUBE-servo2 and myRIO-1900 experimentally validates the closed-loop improvement under various scenarios.

scholarly journals New Decentralized Control of Interconnected Systems

2020 ◽  
Vol 9 (4) ◽  
pp. 2252-2260
Keyword(s):  
Closed Loop ◽  
Sufficient Conditions ◽  
Interconnected Systems ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Matrix Inequalities ◽  
Interconnected System ◽  
Local Controller ◽  
The Stability ◽  
Finsler’S Lemma

In this paper, we present a new decentralized H∞ control for interconnected systems, the interconnected system consists of several subsystems. The proposed approach based on Lyapunov functional and a H∞ criterion, employed to reduce the effect of interconnections between subsystems. In the first, we study the stability of the global system in closed loop using a criterion H∞, the stability conditions are presented in terms of LMI. In the second, to improve this approach, a Finsler’s lemma is used for the stability analysis by LMIs. Some sufficient conditions, ensuring all the closed-loop stability are supplied in terms of Linear Matrix Inequalities (LMIs), and the new feedback gain matrix of each local controller is obtained by solving the LMIs. Finally, the practice examples are given to illustrate the efficiency of the present method

scholarly journals Simulation of Performance Response of State Variables of a Chemical Boiler Process

2018 ◽  
pp. 1-5
Author(s):  
Donatus O. Njoku ◽  
Asagba P. O ◽  
Chilaka U. Longinus ◽  
Amaefule I. A. ◽  
Igwe S. Onyema
Keyword(s):  
Transfer Function ◽  
Closed Loop ◽  
Control Process ◽  
Open Loop ◽  
The State ◽  
Feedback Gain ◽  
State Variables ◽  
Simulink Model ◽  
Performance Response ◽  
Optimal Regulator

This paper has presented simulation of performance response of state variables of a chemical boiler process. The transfer function of a boiler flow control process of a chemical plant was obtained. The transfer function was transformed into state space form to study the state variables of the system. An optimal regulator was designed using MATLAB programme. The developed optimal regulator was added to the loop of the system to form a closed loop system. A Simulink model was developed and used to study performance response of the system. Simulation was carried out for two conditions, open loop and closed loop. The simulation results indicated that the performance responses of the state variables were improved and better stability achieved with the inclusion of the designed feedback gain matrix of the optimal regulator.

scholarly journals Time-Delayed Feedback Control of a Hydraulic Model Governed by a Diffusive Wave System

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Boumediène Chentouf ◽  
Nejib Smaoui
Keyword(s):  
Flow Control ◽  
Closed Loop ◽  
Semigroup Theory ◽  
Loop System ◽  
Delayed Feedback Control ◽  
Feedback Gain ◽  
Wave System ◽  
Closed Loop System ◽  
Decay Of Solutions ◽  
Time Delayed Feedback

This paper is concerned with the feedback flow control of an open-channel hydraulic system modeled by a diffusive wave equation with delay. Firstly, we put forward a feedback flow control subject to the action of a constant time delay. Thereafter, we invoke semigroup theory to substantiate that the closed-loop system has a unique solution in an energy space. Subsequently, we deal with the eigenvalue problem of the system. More importantly, exponential decay of solutions of the closed-loop system is derived provided that the feedback gain of the control is bounded. Finally, the theoretical findings are validated via a set of numerical results.

scholarly journals Constrained Uncertain System Stabilization with Enlargement of Invariant Sets

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Walid Hamdi ◽  
Wissal Bey ◽  
Naceur Benhadj Braiek
Keyword(s):  
Closed Loop ◽  
Uncertain System ◽  
Loop System ◽  
Invariant Sets ◽  
Feedback Gain ◽  
Closed Loop System ◽  
Control Laws ◽  
Robust Model Predictive Control ◽  
Robust Model ◽  
Polyhedral Set

An enhanced method able to perform accurate stability of constrained uncertain systems is presented. The main objective of this method is to compute a sequence of feedback control laws which stabilizes the closed-loop system. The proposed approach is based on robust model predictive control (RMPC) and enhanced maximized sets algorithm (EMSA), which are applied to improve the performance of the closed-loop system and achieve less conservative results. In fact, the proposed approach is split into two parts. The first is a method of enhanced maximized ellipsoidal invariant sets (EMES) based on a semidefinite programming problem. The second is an enhanced maximized polyhedral set (EMPS) which consists of appending new vertices to their convex hull to minimize the distance between each new vertex and the polyhedral set vertices to ensure state constraints. Simulation results on two examples, an uncertain nonisothermal CSTR and an angular positioning system, demonstrate the effectiveness of the proposed methodology when compared to other works related to a similar subject. According to the performance evaluation, we recorded higher feedback gain provided by smallest maximized invariant sets compared to recently studied methods, which shows the best region of stability. Therefore, the proposed algorithm can achieve less conservative results.

Collocated Sensor/Actuator Positioning and Feedback Design in the Control of Flexible Structure System

1994 ◽  
Vol 116 (2) ◽  
pp. 146-154 ◽  
Author(s):  
An-Chen Lee ◽  
Song-Tsuen Chen
Keyword(s):  
Asymptotic Stability ◽  
Closed Loop ◽  
Design Method ◽  
Sufficient Conditions ◽  
Lyapunov Equation ◽  
Energy Criterion ◽  
Programming Algorithm ◽  
Feedback Gain ◽  
Flexible Structure ◽  
Feedback Design

This paper presents a new control design method for the control of flexible systems that not only guarantees closed-loop asymptotic stability but also effectively suppresses vibration. This method allows integrated determination of actuator/sensor locations and feedback gain via minimization of an energy criterion, which is chosen as the integrated total energy stored in the system. The energy criterion is determined via an efficient solution of the Lyapunov equation and minimized with a quasi-Newton or recursive quadratic programming algorithm. The prerequisite for this optimal design method is that the controlled system be asymptotically stable. This study shows that when the controller structure is a collocated direct velocity feedback design with positive definite feedback gain, the number and placement of actuators/sensors are the only factors needed to determine necessary and sufficient conditions for ensuring closed-loop asymptotic stability. The application of this method to a simple flexible structure confirms the direct relationship between our optimization criterion and effectiveness in vibration suppression.

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