A Design Method for Two-Degree-of-Freedom Multi-Period Repetitive Control Systems

2010 ◽  
Vol 459 ◽  
pp. 194-210 ◽  
Author(s):  
Kou Yamada ◽  
Nobuaki Nakazawa ◽  
Iwanori Murakami ◽  
Yoshinori Ando ◽  
Takaaki Hagiwara ◽  
...  
Keyword(s):  
Design Method ◽  
Repetitive Control ◽  
Point Of View ◽  
Output Characteristic ◽  
Degree Of Freedom ◽  
Disturbance Attenuation ◽  
Input Output ◽  
Stabilizing Controllers ◽  
Attenuation Characteristic ◽  
Two Degree Of Freedom

Multi-period repetitive controllers improve the disturbance attenuation characteristic of the modified repetitive control system that follows the periodic reference input with a small steady state error. Recently, the parameterization of all stabilizing multi-period repetitive controllers was studied. However, when the parameterization of all stabilizing multi-period repetitive controllers is used, the input-output characteristic and the feedback characteristic cannot be specified separately. From the practical point of view, it is desirable to specify the input-output characteristic and the feedback characteristic separately. In addition, the parameterization is useful to design stabilizing controllers. Therefore, the problem of obtaining the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately is important to solve. In this paper, we propose the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers.

A Design Method for Two-Degree-of-Freedom Simple Multi-Period Repetitive Control Systems

2010 ◽  
Vol 36 ◽  
pp. 243-252 ◽  
Author(s):  
Yoshinori Ando ◽  
Tatsuya Sakanushi ◽  
Kou Yamada ◽  
Iwanori Murakami ◽  
Takaaki Hagiwara ◽  
...  
Keyword(s):  
Control System ◽  
Control Systems ◽  
Transfer Functions ◽  
Design Method ◽  
Output Characteristic ◽  
Degree Of Freedom ◽  
Disturbance Attenuation ◽  
Input Output ◽  
Attenuation Characteristic ◽  
Two Degree Of Freedom

The multi-period repetitive (MPR) control system is a type of servomechanism for periodic reference inputs. Using MPR controllers, transfer functions from the reference input to the output and from the disturbance to the output of the MPR control system have infinite numbers of poles. To specify the input-output characteristic and the disturbance attenuation characteristic easily, Yamada and Takenaga proposed MPR control systems, named simple multi-period repetitive (simple MPR) control systems, where these transfer functions have finite numbers of poles. In addition, Yamada and Takenaga clarified the parameterization of all stabilizing simple MPR controllers. However, using the simple MPR repetitive controller by Yamada and Takenaga, we cannot specify the input-output characteristic and the disturbance attenuation characteristic separately. From the practical point of view, it is desirable to specify the input-output characteristic and the disturbance attenuation characteristic separately. The purpose of this paper is to propose the parameterization of all stabilizing two-degree-of-freedom (TDOF) simple MPR controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately.

A Design Method for Two-Degree-of-Freedom Multi-Period Repetitive Control Systems with the Specified Frequency Characteristic

2011 ◽  
Vol 497 ◽  
pp. 255-269
Author(s):  
Zhong Xiang Chen ◽  
Kou Yamada ◽  
Nobuaki Nakazawa ◽  
Iwanori Murakami ◽  
Yoshinori Ando ◽  
...  
Keyword(s):  
Control System ◽  
Control Systems ◽  
Frequency Characteristic ◽  
Design Method ◽  
Repetitive Control ◽  
Output Characteristic ◽  
Degree Of Freedom ◽  
Disturbance Attenuation ◽  
Input Output ◽  
Two Degree Of Freedom

Multi-period repetitive controllers improve the disturbance attenuation characteristic of themodified repetitive control system that follows the periodic reference input with small steady stateerror. Recently, the parameterization of all stabilizing multi-period repetitive controllers was studied.However, when the parameterization of all stabilizing multi-period repetitive controllers is used, theinput-output characteristic and the feedback characteristic cannot be specified separately. From thepractical point of view, it is desirable to specify the input-output characteristic and the feedback characteristicseparately. In addition, the parameterization is useful to design stabilizing controllers. Fromthis view-point, the parameterization of all stabilizing two-degree-of-freedom multi-period repetitivecontrollers those can specify the input-output characteristic and the disturbance attenuation characteristicseparately was solved by Yamada et al. However, when we design a stabilizing two-degree-offreedommulti-period repetitive controllers using the parameterization proposed by Yamada et al, thefrequency characteristic of the control system cannot be settled so easily. From the practical point ofview, the frequency characteristic of the control systems are required to be easily settled. This problemcan be solved by obtaining the parameterization of all stabilizing two-degree-of-freedom multi-periodrepetitive controllers with the specified frequency characteristic. In this paper, we propose the parameterizationof all stabilizing two-degree-of-freedom multi-period repetitive controllers with thespecified frequency characteristic.

scholarly journals The parameterization of all two-degree-of-freedom strongly stabilizing controllers

1970 ◽  
Vol 7 (1) ◽  
pp. 88-96
Author(s):  
Tatsuya Hoshikawa ◽  
Kou Yamada ◽  
Yuko Tatsumi
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Output Characteristic ◽  
Degree Of Freedom ◽  
Input Output ◽  
Stabilizing Controller ◽  
Stabilizing Controllers ◽  
Feedback Control Systems ◽  
Two Degree Of Freedom

When a plant can be stabilized by using a stable controller, the controller is said to be a strongly stabilizing controller. The importance of strong stabilizations is to solve some problems occurred by using unstable stabilizing controllers, for example, feedback control systems become high sensitive for disturbances. Parameterizations of all strongly stabilizable plants and of all stable stabilizing controllers have already proposed. However, stable stabilizing controllers designed by using their parameterization cannot specify the input-output characteristic and the feedback characteristic separately. One of the ways to specify these characteristics separately is to use a twodegree-of-freedom control system. However, the parameterization of all two-degree-of-freedom strongly stabilizing controllers has not been examined. The purpose of this paper is to propose the parameterization of all two-degree-of-freedom strongly stabilizing controllers for strongly stabilizable plants.

A Design Method for Two-Degree-of-Freedom Modified Smith Predictors for Multiple-Input/Multiple-Output Time-Delay Plants

2011 ◽  
Vol 497 ◽  
pp. 221-233
Author(s):  
Nghia Thi Mai ◽  
Kou Yamada ◽  
Yoshinori Ando ◽  
Iwanori Murakami ◽  
Tatsuya Hoshikawa
Keyword(s):  
Time Delay ◽  
Design Method ◽  
Multiple Input Multiple Output ◽  
Point Of View ◽  
Smith Predictor ◽  
Degree Of Freedom ◽  
Modified Smith Predictor ◽  
Input Multiple Output ◽  
Output Time ◽  
Two Degree Of Freedom

The modified Smith predictor is well known as an effective time-delay compensator fora plant with large time-delays, and several papers on the modified Smith predictor have been published.Recently, the parameterization of all stabilizing modified Smith predictors for time-delay plantswas obtained by Yamada et al. But, their method cannot specify the input-output characteristic andthe feedback characteristic separately. From the practical point of view, it is desirable that the inputoutputcharacteristic and the feedback characteristic are specified separately. In this paper, we proposethe parameterization of all stabilizing two-degree-of-freedom modified Smith predictors for multipleinput/multiple-output time-delay plants.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

Two-Degree-of-Freedom Helicopter Closed-Loop Identification through a Cascade Controller

2011 ◽  
Vol 403-408 ◽  
pp. 4649-4658 ◽  
Author(s):  
Pouya Ghalei ◽  
Alireza Fatehi ◽  
Mohamadreza Arvan
Keyword(s):  
Closed Loop ◽  
Flight Simulation ◽  
Degree Of Freedom ◽  
Input Output ◽  
Closed Loop Identification ◽  
Practical Algorithm ◽  
Nonlinear Autoregressive Model ◽  
And Control ◽  
Nonlinear Autoregressive ◽  
Two Degree Of Freedom

Input-Output data modeling using multi layer perceptron networks (MLP) for a laboratory helicopter is presented in this paper. The behavior of the two degree-of-freedom platform exemplifies a high order unstable, nonlinear system with significant cross-coupling between pitch and yaw directional motions. This paper develops a practical algorithm for identifying nonlinear autoregressive model with exogenous inputs (NARX) and nonlinear output error model (NOE) through closed loop identification. In order to collect input-output identifier pairs, a cascade state feedback (CSF) controller is introduced to stabilize the helicopter and after that the procedure of system identification is proposed. The estimated models can be utilized for nonlinear flight simulation and control and fault detection studies.

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