Frequency domain design methodology for uncertain cascaded multiple-loop systems with plant modification

1996 ◽  
Vol 143 (5) ◽  
pp. 409-416
Author(s):  
S.-K. Shen ◽  
B.-C. Wang ◽  
T.-T. Lee
Keyword(s):  
Frequency Domain ◽  
Design Methodology

scholarly journals Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Juan Carlos Cambera ◽  
Andres San-Millan ◽  
Vicente Feliu-Batlle
Keyword(s):  
Frequency Domain ◽  
Design Methodology ◽  
Vertical Plane ◽  
Sensor Noise ◽  
Online Identification ◽  
Flexible Arm ◽  
Single Link ◽  
Identification Approach ◽  
Payload Mass ◽  
Mass Identification

We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force. Specifically, we follow a frequency domain design methodology to develop an algebraic identifier. This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise. In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.

Incorporating Right Half-Plane Poles and Zeros in a Frequency Domain Design Technique

1994 ◽  
Vol 116 (4) ◽  
pp. 593-601 ◽  
Author(s):  
Massoud Sobhani ◽  
Suhada Jayasuriya
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Design Methodology ◽  
Minimum Phase ◽  
Phase Problem ◽  
Nonminimum Phase ◽  
Phase Loop ◽  
Poles And Zeros ◽  
Bounded Disturbance ◽  
Domain Constraints

The frequency domain design methodology developed in Jayasuriya and Franchek (1988) for the synthesis of controllers that maximize the allowable size of an unknown-but-bounded disturbance in the presence of several time domain constraints is revisited. It is shown that (i) the basic ingredients of the methodology stays essentially the same for systems with nonminimum phase zeros and/or unstable poles, and (ii) two modifications can facilitate the loop shaping step. In particular, a nonminimum phase problem may be converted to one of frequency shaping a minimum phase loop; and a prestabilization scheme may be used for unstable systems. Two examples illustrate the proposed modifications with one compared to results obtained by the so called Set-Theoretic (ST) approach.

The Application of Response Based Design in the Verification of the Banff Riser System

2002 ◽  
Author(s):  
David McCann ◽  
Keith Anderson ◽  
Thomas S. Taylor ◽  
Patrick O’Brien
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Design Methodology ◽  
Linear Time ◽  
Frequency Content ◽  
Method Of Solution ◽  
Stochastic Techniques ◽  
Computationally Expensive ◽  
Frequency Domain Approach ◽  
Dynamic Frequency

This paper details work that was conducted during the retrieval and subsequent re-installation of the Banff riser system between September 2000 and March 2001. Originally, deterministic methods were used to design the riser system. It is demonstrated that these methods may not be conservative when compared against stochastic techniques. To ensure a conservative design methodology it is necessary to fully account for the inherent dynamic frequency content of the riser. This is usually achieved using non-linear time domain irregular sea techniques. Time domain irregular sea analysis is computationally expensive in terms of resources and time. This paper presents the results of an alternative method of solution based on the frequency domain approach. Excellent agreement between the results of the time and frequency domain is observed.

Frequency Domain Design for Robust Performance Under Parametric, Unstructured, or Mixed Uncertainties

1993 ◽  
Vol 115 (2B) ◽  
pp. 439-451 ◽  
Author(s):  
Suhada Jayasuriya
Keyword(s):  
Frequency Domain ◽  
Design Methodology ◽  
Linear Time ◽  
Mathematical Framework ◽  
Robust Performance ◽  
Linear Time Invariant ◽  
Loop Transfer Function ◽  
Uncertainty Models ◽  
Time Invariant ◽  
Mixed Uncertainties

This article looks at direct frequency domain design for satisfying robust performance objectives in uncertain, linear time invariant (LTI) plants embedded in a single feedback loop. The uncertain plants may be described by parametric, nonparametric (or unstructured), or mixed uncertain models. Quantitative Feedback Theory (QFT) is one frequency domain design methodology that is direct and is equally effective with any of these models. It can be separated from other frequency domain robust control methods such as H∞ optimal control, μ synthesis, and LQG/LTR for at least (i) its emphasis on cost of feedback measured in terms of controller bandwidth, (ii) its ability to deal nonconservatively with parametric, nonparametric and mixed uncertainty models, and (iii) its utilization of both amplitude and phase of the loop transfer function, pointwise in frequency, for the quantification of robust performance. An exposition of these attributes, unique to QFT, and the basic design methodology, coupled with a recently developed mathematical framework and some existence results for the standard single-loop QFT problem are the salient features of this paper.

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