Controller Design Using Laguerre Functions

10.36227/techrxiv.14170457 ◽

2021 ◽

Author(s):

philip olivier

Keyword(s):

Transfer Function ◽

Discrete Time ◽

Continuous Time ◽

Controller Design ◽

Laguerre Functions ◽

Plant Transfer ◽

Future Work

<div> <div> <div> <p>This paper presents a technique for designing controllers for rational plants using Laguerre functions. The inputs to the process are the a) the plant transfer function P(s), b) the target transfer function T(s) and c) the desired order of the controller. Future work will extend this process so it is applicable to 1) irrational continuous time plants and 2) to irrational discrete time plants. </p> </div> </div> </div>

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Robust continuous-time and discrete-time flow control of a dam–river system. (II) Controller design

Applied Mathematical Modelling ◽

10.1016/s0307-904x(99)00013-x ◽

1999 ◽

Vol 23 (11) ◽

pp. 829-846 ◽

Cited By ~ 27

Author(s):

Xavier Litrico ◽

Didier Georges

Keyword(s):

Flow Control ◽

Discrete Time ◽

Continuous Time ◽

Controller Design ◽

River System ◽

Time Flow

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Digital sliding mode controller design for multiple time-delay continuous-time transfer function matrices with a long input–output delay

Journal of Process Control ◽

10.1016/j.jprocont.2014.11.003 ◽

2015 ◽

Vol 25 ◽

pp. 78-93 ◽

Cited By ~ 7

Author(s):

L.B. Xie ◽

L.S. Shieh ◽

C.Y. Wu ◽

J.S.H. Tsai ◽

J.I. Canelon ◽

...

Keyword(s):

Time Delay ◽

Transfer Function ◽

Continuous Time ◽

Controller Design ◽

Sliding Mode ◽

Sliding Mode Controller ◽

Multiple Time ◽

Input Output ◽

Time Transfer ◽

Output Delay

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Digital decoupling controller design for multiple time-delay continuous-time transfer function matrices

International Journal of Systems Science ◽

10.1080/00207721.2013.792974 ◽

2013 ◽

Vol 46 (4) ◽

pp. 577-589 ◽

Cited By ~ 1

Author(s):

L.B. Xie ◽

C.Y. Wu ◽

L.S. Shieh ◽

J.S.H. Tsai

Keyword(s):

Time Delay ◽

Transfer Function ◽

Continuous Time ◽

Controller Design ◽

Multiple Time ◽

Time Transfer

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A Unified Approach for H∞ Complementary Sensitivity Design of PID Controllers Applied to a DC Motor With Communication Delay

Volume 10: Mechanical Systems and Control, Parts A and B ◽

10.1115/imece2009-12447 ◽

2009 ◽

Cited By ~ 1

Author(s):

T. Emami ◽

J. M. Watkins

Keyword(s):

Transfer Function ◽

Frequency Response ◽

Discrete Time ◽

Continuous Time ◽

Dc Motor ◽

Communication Delay ◽

Time Shift ◽

Pid Controllers ◽

Unified Approach ◽

Experimental Frequency

In this paper a graphical technique is introduced for finding all continuous-time and discrete-time proportional integral derivative (PID) controllers that satisfy the discrete-time H∞ complementary sensitivity constraint of an arbitrary order transfer function with time delay. These problems can be solved by finding all achievable PID controllers that simultaneously stabilize the closed-loop characteristic polynomial and satisfy constraints defined by a set of related complex polynomials. The key advantage of this procedure is that this method depends only on the frequency response of the system. If the plant transfer function is given, the procedure is still appropriate. The delta operator is used to describe the discrete-time controllers because it not only possesses numerical properties superior to the discrete-time shift operator, but also converges to the continuous-time controller as the sampling period approaches zero. A unified approach allows us to use the same procedure for discrete-time and continuous-time complementary sensitivity design of PID controllers. The method is demonstrated by using the experimental frequency response of a DC motor with communication delay for H∞ complementary sensitivity design of PID controllers.

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DIGITAL MODEL PREDICTIVE CONTROL OF THE THREE TANK SYSTEM BASED ON LAGUERRE FUNCTIONS

Facta Universitatis Series Automatic Control and Robotics ◽

10.22190/fuacr1803153s ◽

2019 ◽

Vol 17 (3) ◽

pp. 153

Author(s):

Miodrag Spasić ◽

Dragan Antić ◽

Nikola Danković ◽

Staniša Perić ◽

Saša S. Nikolić

Keyword(s):

Nonlinear System ◽

Model Predictive Control ◽

Predictive Control ◽

Discrete Time ◽

Hydraulic System ◽

Control Method ◽

Controller Design ◽

Laguerre Functions ◽

Tank System ◽

Digital Simulations

The application of the model predictive control (MPC) based on discrete-time Laguerre functions is presented in this paper. A nonlinear three-tank hydraulic system is used as an object to which the proposed algorithm is applied. The paper also presents the method of For the verification of the proposed control method, digital simulations are performed using Matlab.linearization of the nonlinear system, as well as the procedure for the controller design.

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Discrete-time control of bilateral teleoperation systems: a review

Robotica ◽

10.1017/s0263574717000583 ◽

2017 ◽

Vol 36 (4) ◽

pp. 552-569 ◽

Cited By ~ 5

Author(s):

Amir Aminzadeh Ghavifekr ◽

Amir Rikhtehgar Ghiasi ◽

Mohammad Ali Badamchizadeh

Keyword(s):

Communication Networks ◽

Discrete Time ◽

Continuous Time ◽

Controller Design ◽

Design Guidelines ◽

Bilateral Teleoperation ◽

Transmission Delays ◽

Time Control ◽

The Stability ◽

Teleoperation Systems

SUMMARYThe possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.

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