H∞ CONTROL DESIGN OF A MULTITANK SYSTEM

2020 ◽  
Vol 70 (3) ◽  
pp. 26-33
Author(s):  
Andrey Yonchev ◽  
Martin Mladenov
Keyword(s):  
Mathematical Model ◽  
Modeling And Simulation ◽  
Closed Loop ◽  
Controller Design ◽  
Control Design ◽  
Loop System ◽  
Optimal Controller ◽  
Closed Loop System ◽  
Pump Operation ◽  
Physical Plant

This paper considers MATLAB® modeling and simulation of H∞ controller and its realization on the Multitank System. The first task is to study the physical plant of the laboratory Multitank System and to apply a given mathematical model for optimal controller design. The general objective of the derived regulator is to reach and stabilize the level in the tanks by an adjustment of the pump operation or/and valves settings. Finally, it is necessary to simulate the obtained closed-loop system and to test its workability.

scholarly journals Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

2021 ◽  
Vol 26 (1) ◽  
pp. 21
Author(s):  
Ahmad Taher Azar ◽  
Fernando E. Serrano ◽  
Nashwa Ahmad Kamal
Keyword(s):  
Design Methodology ◽  
Closed Loop ◽  
Complex Analysis ◽  
Controller Design ◽  
Filter Design ◽  
Design Procedure ◽  
Elliptic Functions ◽  
Loop System ◽  
Closed Loop System ◽  
Loop Shaping

In this paper, a loop shaping controller design methodology for single input and a single output (SISO) system is proposed. The theoretical background for this approach is based on complex elliptic functions which allow a flexible design of a SISO controller considering that elliptic functions have a double periodicity. The gain and phase margins of the closed-loop system can be selected appropriately with this new loop shaping design procedure. The loop shaping design methodology consists of implementing suitable filters to obtain a desired frequency response of the closed-loop system by selecting appropriate poles and zeros by the Abel theorem that are fundamental in the theory of the elliptic functions. The elliptic function properties are implemented to facilitate the loop shaping controller design along with their fundamental background and contributions from the complex analysis that are very useful in the automatic control field. Finally, apart from the filter design, a PID controller loop shaping synthesis is proposed implementing a similar design procedure as the first part of this study.

scholarly journals Anisochronic Internal Model Control Design

10.14311/482 ◽  
2003 ◽  
Vol 43 (5) ◽  
Author(s):  
T. Vyhlídal ◽  
P. Zítek
Keyword(s):  
System Dynamics ◽  
Internal Model ◽  
Closed Loop ◽  
Control Design ◽  
Internal Model Control ◽  
Loop System ◽  
Closed Loop System ◽  
First Order ◽  
Dominant Pole ◽  
Model Control

The features of internal model control (IMC) design based on the first order anisochronic model are investigated in this paper. The structure of the anisochronic model is chosen in order to fit both the dominant pole and the dominant zero of the system dynamics being approximated. Thanks to its fairly plain structure, the model is suitable for use in IMC design. However, use of the anisochronic model in IMC design may result in so-called neutral dynamics of the closed loop. This phenomenon is studied in this paper via analysing the spectra of the closed loop system.

scholarly journals Stability analysis of a phase-shifted full-bridge circuit for electric vehicles based on adaptive neural fuzzy PID control

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Yan Liu ◽  
Yan Huang ◽  
He Zhang ◽  
Qiang Huang
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Electric Vehicles ◽  
Pid Control ◽  
Closed Loop ◽  
Loop System ◽  
Small Signal ◽  
Fuzzy Pid ◽  
Closed Loop System ◽  
Neural Fuzzy

AbstractIn the paper, adaptive neural fuzzy (ANF) PID control is applied on the stability analysis of phase-shifted full-bridge (PSFB) zero-voltage switch (ZVS) circuit, which is used in battery chargers of electric vehicles. At first, the small-signal mathematical model of the circuit is constructed. Then, by fuzzing the parameters of PID, a closed-loop system of the small-signal mathematical model is established. Further, after training samples collected from the fuzzy PID system by adaptive neural algorithm, an ANF PID controller is utilized to build a closed-loop system. Finally, the characteristics of stability, overshoot and response speed of the mathematical model and circuit model systems are analyzed. According to the simulation results of PSFB ZVS circuit, the three control strategies have certain optimizations in overshoot and adjustment time. Among them, the optimization effect of PID control in closed-loop system is the weakest. From the results of small-signal model and circuit model, the ANF PID system has highest optimization. Experiments demonstrate that the ANF PID system gives satisfactory control performance and meets the expectation of optimization design.

scholarly journals MODELING AND SIMULATION OF QUAY CRANE CONTROL SYSTEM FOR PID CONTROLLER OPTIMAL PARAMETERS DETERMINATION / KRANTINĖS KRANO VALDYMO SISTEMOS KOMPIUTERINIS MODELIAVIMAS OPTIMALIOMS PID VALDIKLIO VERTĖMS NUSTATYTI

2016 ◽  
Vol 8 (5) ◽  
pp. 540-547
Author(s):  
Tomas Eglynas ◽  
Audrius Senulis ◽  
Marijonas Bogdevičius ◽  
Arūnas Andziulis ◽  
Mindaugas Jusis
Keyword(s):  
Mathematical Model ◽  
Parameter Estimation ◽  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Loop System ◽  
Control Algorithms ◽  
Closed Loop System ◽  
Matlab Simulink ◽  
Crane Control

The main control object of Quay crane, which is operating in seaport intermodal terminal cargo loading and unloading process, is the crane trolley. One of the main frequent problem, which occurs, is the swinging of the container. This swinging is caused not only by external forces but also by the movement of the trolley. The research results of recent years produced various types of control algorithms by the other researchers. The control algorithms are solving separate control problems of Quay crane in laboratory environment. However, there is still complex control algorithm design and the controller’s parameter estimation problems to be solved. This paper presents mathematical model of the Quay crane trolley mechanism with the suspended cargo. The mathematical model is implemented in Matlab Simulink environment and using Dormand-Prince solving method. The presented model of laboratory quay crane mathematical model is dedicated to parameter estimation of PID controller of closed loop system with the usage of S –form speed input profile. The article includes the dynamic model of the presented system, the description of closed loop system and modeling results. These results will be used as an initial information for the PID parameters estimation in real quay crane control system. The simu-lation of the model was performed using estimated values of controller. The sway influence of the cargo, the usage of the trolley speed input S-shaper and the PID controller was used to control the trolley speed. Jūriniame įvairiarūšiame terminale atliekant konteinerių krovos procesus, vienas iš krantinės kranų valdymo objektų yra vežimėlis. Viena iš problemų, su kuria susiduriama dažniausiai, yra konteinerio svyravimai, kuriuos, be išorinių veiksnių, taip pat sukelia ir vežimėlio judėji-mas. Remdamiesi paskutinių kelerių metų tyrimais, mokslininkai sukūrė įvairių valdymo algoritmų, kurie laboratorinėmis sąlygomis spren-džia atskiras krantinės kranų valdymo problemas. Tačiau kompleksinių ir efektyvių valdymo algoritmų ir jų valdymo sistemos parametrų nustatymo metodai vis dar kuriami ir tobulinami. Šiame darbe sudarytas krantinės krano vežimėlio su kabančiu kroviniu mechanizmo sis-temos matematinis modelis. Šis modelis realizuotas Matlab Simulink aplinkoje ir sprendžiamas taikant Dormand-Prince metodą. Sukurtas laboratorinio krantinės krano valdymo sistemos kompiuterinis modelis skirtas uždarosios valdymo sistemos PID valdiklio parametrams nustatyti, kai užduoties signalui taikomas S formos greičio kitimo profilis. Darbe pateiktas sistemos dinaminis modelis, aprašyta uždaroji valdymo sistema, pateikti kompiuterinio modeliavimo rezultatai, kuriuos planuojama panaudoti kaip pradinę informaciją realaus krano PID valdiklio parametrams derinti. Atlikta simuliacija naudojant nustatytas vertes ir įvertinti krovinio svyravimai taikant S formos greičio kitimo profilį kartu su PID valdikliu vežimėlio greičiui valdyti.

scholarly journals Decentralised PI controller design based on dynamic interaction decoupling in the closed-loop behaviour of a flotation process

2021 ◽  
Vol 11 (6) ◽  
pp. 4865
Author(s):  
Nomzamo Tshemese-Mvandaba ◽  
R. Tzoneva ◽  
M. E. S. Mnguni
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Design Procedure ◽  
Loop System ◽  
Closed Loop System ◽  
Flotation Process ◽  
Loop Control ◽  
Decoupling Method ◽  
Pi Controllers ◽  
Interconnected Model

An enhanced method for design of decenralised proportional integral (PI) controllers to control various variables of flotation columns is proposed. These columns are multivariable processes characterised by multiple interacting manipulated and controlled variables. The control of more than one variable is not an easy problem to solve as a change in a specific manipulated variable affects more than one controlled variable. Paper proposes an improved method for design of decentralized PI controllers through the introduction of decoupling of the interconnected model of the process. Decoupling the system model has proven to be an effective strategy to reduce the influence of the interactions in the closed-loop control and consistently to keep the system stable. The mathematical derivations and the algorithm of the design procedure are described in detail. The behaviour and performance of the closed-loop systems without and with the application of the decoupling method was investigated and compared through simulations in MATLAB/Simulink. The results show that the decouplers - based closed-loop system has better performance than the closed-loop system without decouplers. The highest improvement (2 to 50 times) is in the steady-state error and 1.2 to 7 times in the settling and rising time. Controllers can easily be implemented.

Passivity-Based Stabilization of Underactuated Mechanical Systems

2013 ◽  
Vol 421 ◽  
pp. 16-22
Author(s):  
Shan Shan Wu ◽  
Wei Huo
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Mechanical Systems ◽  
Matching Condition ◽  
Loop System ◽  
Closed Loop System ◽  
Underactuated Mechanical Systems ◽  
Stabilization Control

A new stabilization control method for underactuated linear mechanical systems is presented in this paper. By proper setting the desired closed-loop system, the matching condition for controller design is reduced to one equation and an adjustable parameter (damping coefficient) is introduced to the controller. Stability of the closed-loop system is proved based on passivity. As an application example, stabilization control of 2-DOF Pendubot is studied. The system is linearized at its equilibrium point and the proposed controller design method is applied to the linearized system. The procedure of solving matching condition and design controller for the Pendubot is provided. The simulation results verify feasibility of the proposed method.

A Novel Delay-Independent Robust Adaptive Controller Design for Uncertain Nonlinear Systems With Time-Varying State Delay

2019 ◽  
Vol 15 (1) ◽  
Author(s):  
Hadi Azmi ◽  
Alireza Yazdizadeh
Keyword(s):  
Nonlinear Systems ◽  
Linear Matrix Inequality ◽  
Closed Loop ◽  
Controller Design ◽  
Loop System ◽  
Linear Matrix ◽  
Time Varying ◽  
Matrix Inequality ◽  
System Delay ◽  
Closed Loop System

Abstract In this paper, two novel adaptive control strategies are presented based on the linear matrix inequality for nonlinear Lipschitz systems. The proposed approaches are developed by creatively using Krasovskii stability theory to compensate parametric uncertainty, unknown time-varying internal delay, and bounded matched or mismatched disturbance effects in closed-loop system of nonlinear systems. The online adaptive tuning controllers are designed such that reference input tracking and asymptotic stability of the closed-loop system are guaranteed. A novel structural algorithm is developed based on linear matrix inequality (LMI) and boundaries of the system delay or uncertainty. The capabilities of the proposed tracking and regulation methods are verified by simulation of three physical uncertain nonlinear system with real practical parameters subject to internal or state time delay and disturbance.

scholarly journals Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based

2016 ◽  
Vol 2016 ◽  
pp. 1-24 ◽  
Author(s):  
Nurul Dayana Salim ◽  
Dafizal Derawi ◽  
Hairi Zamzuri ◽  
Kenzo Nonami ◽  
Mohd Azizi Abdul Rahman
Keyword(s):  
Nonlinear Dynamics ◽  
Attitude Control ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Control Design ◽  
Loop System ◽  
Parametric Uncertainties ◽  
Time Varying ◽  
Closed Loop System ◽  
External Time

This paper proposes a robust optimal attitude control design for multiple-input, multiple-output (MIMO) uncertain hexarotor micro aerial vehicles (MAVs) in the presence of parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling. The parametric uncertainties, external time-varying disturbances, nonlinear dynamics, and coupling are treated as the total disturbance in the proposed design. The proposed controller is achieved in two simple steps. First, an optimal linear-quadratic regulator (LQR) controller is designed to guarantee that the nominal closed-loop system is asymptotically stable without considering the total disturbance. After that, a disturbance observer is integrated into the closed-loop system to estimate the total disturbance acting on the system. The total disturbance is compensated by a compensation input based on the estimated total disturbance. Robust properties analysis is given to prove that the state is ultimately bounded in specified boundaries. Simulation results illustrate the robustness of the disturbance observer-based optimal attitude control design for hovering and aggressive flight missions in the presence of the total disturbance.

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