Stability and Performance Robustness Analysis of Repetitive Control Systems Using Structured Singular Values

1996 ◽  
Vol 118 (3) ◽  
pp. 593-597 ◽  
Author(s):  
Levent Gu¨venc¸
Keyword(s):  
Time Delay ◽  
Control Systems ◽  
Repetitive Control ◽  
Singular Values ◽  
Parametric Modeling ◽  
Singular Value ◽  
Plant Performance ◽  
Structured Singular Value ◽  
And Performance ◽  
Performance Robustness

The structured singular value method is applied to continuous-time SISO repetitive control systems in order to determine their stability and performance robustness in the presence of structured parametric modeling error in the plant. Performance measures for repetitive control systems are introduced and the robust performance analysis using structured singular values is modified, taking the alternating magnitude behaviour of the sensitivity function of a repetitive control system into account. The analysis procedure is simplified considerably in the case of large time delay by noting that the upper and lower envelopes of the structured singular value plots are obtained from corresponding finite dimensional systems without any time delay. The analysis procedures developed are applied to an example on repetitive control of an electrohydraulic material testing machine, available in the literature, to demonstrate their usefulness.

Robustness of Adaptive Rotor Vibration Control to Structured Uncertainty

1997 ◽  
Vol 119 (2) ◽  
pp. 243-250 ◽  
Author(s):  
C. R. Knospe ◽  
S. M. Tamer ◽  
S. J. Fedigan
Keyword(s):  
Robustness Analysis ◽  
Stability Margin ◽  
Singular Values ◽  
Open Loop ◽  
Worst Case ◽  
Loop Control ◽  
Structured Uncertainty ◽  
Analysis Of Stability ◽  
And Performance ◽  
Performance Robustness

Recent experimental results have demonstrated the effectiveness of adaptive open-loop control algorithms for the suppression of unbalance response on rotors supported in active magnetic hearings. Herein, tools for the analysis of stability and performance robustness of this algorithm with respect to structured uncertainty are derived. The stability and performance robustness analysis problems are shown to be readily solved using a novel application of structured singular values. An example problem is presented which demonstrate the efficacy of this approach in obtaining tight bounds on stability margin and worst case performance.

scholarly journals Effect of Handedness on Learned Controllers and Sensorimotor Noise During Trajectory-Tracking

2020 ◽  
Author(s):  
Momona Yamagami ◽  
Lauren N. Peterson ◽  
Darrin Howell ◽  
Eatai Roth ◽  
Samuel A. Burden
Keyword(s):  
Control Systems ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Feedforward Control ◽  
Hand Preference ◽  
Parametric Modeling ◽  
Loop Control ◽  
Human In The Loop ◽  
Control Dynamic ◽  
And Performance

AbstractIn human-in-the-loop control systems, operators can learn to manually control dynamic machines with either hand using a combination of reactive (feedback) and predictive (feedforward) control. This paper studies the effect of handedness on learned controllers and performance during a continuous trajectory-tracking task. In an experiment with 18 participants, subjects perform an assay of unimanual trajectory-tracking and disturbance-rejection tasks through second-order machine dynamics, first with one hand then the other. To assess how hand preference (or dominance) affects learned controllers, we extend, validate, and apply a non-parametric modeling method to estimate the concurrent feedback and feedforward elements of subjects’ controllers. We find that handedness does not affect the learned controller and that controllers transfer between hands. Observed improvements in time-domain tracking performance may be attributed to adaptation of feedback to reject disturbances arising exogenously (i.e. applied by the experimenter) and endogenously (i.e. generated by sensorimotor noise).

Robustness Analysis of Mistuned Bladed Disk Using the Upper Bound of Structured Singular Value

2009 ◽  
Vol 131 (3) ◽  
Author(s):  
Jianyao Yao ◽  
Jianjun Wang ◽  
Qihan Li
Keyword(s):  
Upper Bound ◽  
Robustness Analysis ◽  
Control Model ◽  
Singular Value ◽  
Robust Performance ◽  
Structured Singular Value ◽  
Bladed Disk ◽  
Random Mistuning ◽  
And Performance ◽  
In Virtue Of

This paper presents a method for the robustness analysis of the bladed disk with bounded random mistuning. The robust stability and performance are evaluated by the upper bound of the structured singular value. The robust control model of the bladed disk is established in virtue of linear fractional transformation. The influences of intentional stiffness mistuning in harmonic patterns on the robustness of the mistuned bladed disk are investigated. The numerical results indicate that the robust performance of the mistuned bladed disk could be effectively enhanced by appropriate harmonic intentional mistuning. The proposed method can help us design a bladed disk, which is insensitive to dangerous random mistuning.

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