Disturbance Rejection Performance Analysis of Predictive Controller for a Lime Kiln Process

2016 ◽  
Author(s):  
Sandeep Kumar Sunori ◽  
Manoj Chandra Lohani ◽  
Pradeep Kumar Juneja ◽  
Govind Singh Jethi
Keyword(s):  
Performance Analysis ◽  
Disturbance Rejection ◽  
Lime Kiln ◽  
Predictive Controller

scholarly journals The effects of swing-leg retraction on running performance: analysis, simulation, and experiment

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2137-2155 ◽  
Author(s):  
J. G. Daniël Karssen ◽  
Matt Haberland ◽  
Martijn Wisse ◽  
Sangbae Kim
Keyword(s):  
Performance Analysis ◽  
Simulation Model ◽  
Impact Energy ◽  
Disturbance Rejection ◽  
Energetic Efficiency ◽  
Energy Losses ◽  
Simplified Models ◽  
Simulation And Experiment ◽  
Robot Performance ◽  
Improve Stability

SUMMARYUsing simple running models, researchers have argued that swing-leg retraction can improve running robot performance. In this paper, we investigate whether this holds for a more realistic simulation model validated against a physical running robot. We find that swing-leg retraction can improve stability and disturbance rejection. Alternatively, swing-leg retraction can simultaneously reduce touchdown forces, slipping likelihood, and impact energy losses. Surprisingly, swing-leg retraction barely affected net energetic efficiency. The retraction rates at which these effects are the greatest are strongly model-dependent, suggesting that robot designers cannot always rely on simplified models to accurately predict such complex behaviors.

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