On the Synthesis of Compensators for Nonovershooting Step Response

1996 ◽  
Vol 118 (4) ◽  
pp. 757-763 ◽  
Author(s):  
Suhada Jayasuriya ◽  
Jay-Wook Song
Keyword(s):  
Closed Loop ◽  
Loop System ◽  
Step Response ◽  
Minimum Phase ◽  
Theoretical Interest ◽  
Closed Loop System ◽  
Sufficiency Theorems ◽  
Essential Idea

A problem of practical and theoretical interest in control is the synthesis of a compensator such that the closed-loop system step response does not overshoot. In this paper we present an approach for synthesizing such compensators for SISO, minimum phase plants. The essential idea of the technique is to appropriately locate the closed loop poles with respect to fixed and added zeros. Admissible pole-zero locations are characterized by two sufficiency theorems.

Sensitivity Comparison to Loop Latencies Between Damping Versus Stiffness Feedback Control Action in Distributed Controllers

2014 ◽  
Author(s):  
Ye Zhao ◽  
Nicholas Paine ◽  
Luis Sentis
Keyword(s):  
Closed Loop ◽  
Impedance Control ◽  
Tracking Error ◽  
Loop System ◽  
Tracking Performance ◽  
System Stability ◽  
Step Response ◽  
Tracking Accuracy ◽  
Closed Loop System ◽  
And Performance

This paper studies the effects of damping and stiffness feedback loop latencies on closed-loop system stability and performance. Phase margin stability analysis, step response performance and tracking accuracy are respectively simulated for a rigid actuator with impedance control. Both system stability and tracking performance are more sensitive to damping feedback than stiffness feedback latencies. Several comparative tests are simulated and experimentally implemented on a real-world actuator to verify our conclusion. This discrepancy in sensitivity motivates the necessity of implementing embedded damping, in which damping feedback is implemented locally at the low level joint controller. A direct benefit of this distributed impedance control strategy is the enhancement of closed-loop system stability. Using this strategy, feedback effort and thus closed-loop actuator impedance may be increased beyond the levels possible for a monolithic impedance controller. High impedance is desirable to minimize tracking error in the presence of disturbances. Specially, trajectory tracking accuracy is tested by a fast swing and a slow stance motion of a knee joint emulating NASA-JSC’s Valkyrie legged robot. When damping latencies are lowered beyond stiffness latencies, gravitational disturbance is rejected, thus demonstrating the accurate tracking performance enabled by a distributed impedance controller.

Fault reconstruction and fault tolerant control design for a network of dynamical systems

2021 ◽  
pp. 014233122110317
Author(s):  
Fanglai Zhu ◽  
Yu Shan ◽  
Jiancheng Zhang
Keyword(s):  
Closed Loop ◽  
Matching Condition ◽  
Loop System ◽  
Phase System ◽  
Minimum Phase ◽  
Closed Loop System ◽  
Fault Reconstruction ◽  
Observer Matching Condition ◽  
Fault Compensation ◽  
Interval Observer

This paper investigates the problems of the fault reconstruction and fault compensation controller design for a network of dynamic systems in which subsystems are interconnected through each subsystem’s outputs. First, under some assumptions, we prove that the minimum phase system condition, the observer matching condition and the controllability can be kept for the overall system. Second, an augmented descriptor system is constructed and we further prove that the minimum phase system condition, the observer matching condition are kept, and then a reduced-order observer is designed for the augmented system to obtain the estimates of the overall system states and the sensor faults simultaneously. Third, an interval observer is designed for the measured output, and based on the interval observer, an asymptotical actuator fault reconstruction method is developed. Finally, an observer-based H infinite and fault compensation scheme is designed and the stability of the closed-loop system is analyzed. We point out that the closed-loop system satisfies the so-called separation property. In the end, a simulation example is given to demonstrate the effectiveness of the proposed methods.

scholarly journals Design, modelling and simulation of controlled sepic DC-DC converter-based genetic algorithm

2020 ◽  
Vol 11 (4) ◽  
pp. 2116
Author(s):  
Mohammed Omar Ali ◽  
Ali Hussein Ahmad
Keyword(s):  
Genetic Algorithm ◽  
State Space ◽  
Closed Loop ◽  
Modelling And Simulation ◽  
Loop System ◽  
Superior Performance ◽  
Step Response ◽  
System Modelling ◽  
Closed Loop System ◽  
Simulation And Optimization

This paper discusses various aspects of a single-ended primary inductance DC-DC converter (SEPIC). The focus is on design, modelling, and simulation results of a SEPIC converter. The study analyses the principle of SEPIC operation when operated in continuous conduction mode (CCM). Additionally, the mathematical equations for the design modules are calculated as per converter requirements. State-space equations are used to formulate the state-space model of the SEPIC converter. To satisfy the best-performance criterion of the system, the parameters for controller (K<sub>p</sub>, K<sub>i</sub>, K<sub>d</sub>) should be tuned or optimized using the genetic algorithm (GA) optimization technique. Controller parameters are determined using an objective function that minimises the integral time absolute error (ITAE). Simulations performed on a closed-loop system reveal that the step response with a PID controlled based GA displayed superior performance. A closed-loop system has a substantially bigger stability region compared to an open-loop system. The simulation optimised performance metrics like maximum overshoot percentage (M<sub>p</sub>), rise time (t<sub>r</sub>), and settling time (t<sub>s</sub>). MATLAB/Simulink R2018a® and m-file code are used for the system modelling, simulation, and optimization of the PID controller parameters based on the GA.

Safety and Performance of the Omnipod®Hybrid Closed-Loop System in Adolescents with Type 1 Diabetes over Five Days Under Free-Living Conditions

Diabetes ◽  
2018 ◽  
Vol 67 (Supplement 1) ◽  
pp. 1376-P
Author(s):  
GREGORY P. FORLENZA ◽  
BRUCE BUCKINGHAM ◽  
JENNIFER SHERR ◽  
THOMAS A. PEYSER ◽  
JOON BOK LEE ◽  
...  
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Living Conditions ◽  
Loop System ◽  
Closed Loop System ◽  
Free Living ◽  
And Performance ◽  
Free Living Conditions

1066-P: Improvement in Time-in-Range (TIR) with Real-Life Use of Hybrid Closed-Loop System in Patients with Type 1 Diabetes (T1D)

Diabetes ◽  
2019 ◽  
Vol 68 (Supplement 1) ◽  
pp. 1066-P
Author(s):  
HALIS K. AKTURK ◽  
DOMINIQUE A. GIORDANO ◽  
HAL JOSEPH ◽  
SATISH K. GARG ◽  
JANET K. SNELL-BERGEON
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Real Life ◽  
Loop System ◽  
Closed Loop System ◽  
Time In Range

Safety and Performance of the Omnipod® Hybrid Closed-Loop System in Adults with Type 1 Diabetes over Five Days Under Free-Living Conditions

Diabetes ◽  
2018 ◽  
Vol 67 (Supplement 1) ◽  
pp. 207-OR
Author(s):  
BRUCE A. BUCKINGHAM ◽  
JENNIFER SHERR ◽  
GREGORY P. FORLENZA ◽  
THOMAS A. PEYSER ◽  
JOON BOK LEE ◽  
...  
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Living Conditions ◽  
Loop System ◽  
Closed Loop System ◽  
Free Living ◽  
And Performance ◽  
Free Living Conditions
Sign in / Sign up

Export Citation Format

Share Document