Optimal Pole Assignment of Self-Balancing Robot System

2012 ◽  
Vol 538-541 ◽  
pp. 2649-2653
Author(s):  
Yan Hua Zhao ◽  
Guo Zhang ◽  
Chun Xia Duan
Keyword(s):  
Optimal Design ◽  
Dynamic System ◽  
Dynamic Characteristics ◽  
Nonlinear Dynamic ◽  
Nonlinear Dynamic System ◽  
Pole Assignment ◽  
Real Time Control ◽  
Robot System ◽  
Time Control ◽  
Balancing Robot

Self-balancing robot is a multivariable, coupled, nonlinear dynamic system, using the optimal pole assignment which can give attention to both good dynamic characteristics and LQ optimal design technology robustness and other advantages. Emulation and real-time control are given to show the effectiveness of the presented method.

Strong stability of optimal design to dynamic system for the fed-batch culture

2017 ◽  
Vol 10 (02) ◽  
pp. 1750018 ◽  
Author(s):  
Jinxing Zhang ◽  
Jinlong Yuan ◽  
Zhenyu Dong ◽  
Enmin Feng ◽  
Hongchao Yin ◽  
...  
Keyword(s):  
Optimal Design ◽  
Dynamic System ◽  
Batch Culture ◽  
Nonlinear Dynamic ◽  
Nonlinear Dynamic System ◽  
Strong Stability ◽  
Fed Batch ◽  
Variational System ◽  
Special Cases ◽  
Fed Batch Culture

Most economic and industrial processes are governed by inherently nonlinear dynamic system in which mathematical analysis (with few exceptions) is unable to provide general solutions; even the conditions to the existence of equilibrium point for the nonlinear dynamic system are simply not established in some special cases. In this paper, based on numerical solution of a nonlinear multi-stage automatic control dynamic (NMACD) in fed-batch culture of glycerol bioconversion to 1,3-propanediol (1,3-PD) induced by Klebsiella pneumoniae (K. pneumoniae), we consider an optimal design of the NMACD system. For convenience, the NMACD system is reconstructed together with the existence, uniqueness and continuity of solutions are discussed. Our goal is to prove the strong stability with respect to the perturbation of initial state for the solution to the NMACD system. To this end, we construct corresponding linear variational system for the solution to the NMACD system, and also prove the boundedness of fundamental matrix solutions to the linear variational system. On this basis, we prove the strong stability appearing above through the application of this boundedness.

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