Control of Linear Systems by Output Proportional Plus Derivative Feedback

1990 ◽  
Vol 112 (1) ◽  
pp. 27-34 ◽  
Author(s):  
A. Haraldsdottir ◽  
P. T. Kabamba ◽  
A. G. Ulsoy
Keyword(s):  
Linear Time ◽  
Design Method ◽  
Design Procedure ◽  
Perfect State ◽  
Linear Time Invariant ◽  
Approximate Differentiation ◽  
Quadratic Performance ◽  
Linear Time Invariant Systems ◽  
Improved Performance ◽  
Control Of Linear Systems

This paper presents a design procedure for linear time invariant systems using output proportional plus derivative feedback. The derivative feedback is shown to improve the controller performance in the presence of parameter variations and disturbance inputs, at the cost of increased noise response. A quadratic performance index, with the addition of terms to penalize disturbance and noise response and eigenvalue and response sensitivity, is used as the basis for a design method. The proposed method is a generalization of one presented previously for the case of perfect state and state derivative feedback. The method is illlustrated on a simple first order example and on the design of a controller for the lateral dynamnics of an L1011 aircraft. The results indicate that improved performance is obtained through the addition of perfect output derivative feedback, however, much of that improvement is lost when approximate differentiation is used.

Inverse-Dynamics Based State and Disturbance Observers for Linear Time-Invariant Systems

2002 ◽  
Vol 124 (3) ◽  
pp. 375-381 ◽  
Author(s):  
Chia-Shang Liu ◽  
Huei Peng
Keyword(s):  
Inverse Dynamics ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Design Procedure ◽  
Ground Vehicle ◽  
Linear Time Invariant ◽  
Linear Time Invariant Systems ◽  
Disturbance Model ◽  
Rank Conditions ◽  
Time Invariant

An output-feedback observer is proposed in this paper to simultaneously estimate unknown states and disturbances of linear time invariant systems. The states are estimated using a Luenberger-like observer while the disturbance signals are estimated based on an inverse-dynamics motivated algorithm. The proposed schemes can be applied to a wide variety of disturbances since no disturbance model is required in the estimation. Depending on the input/output rank conditions of the plant, two different designs are proposed. The observer gains are selected based on sufficient conditions for exponentially converging estimation. The design procedure is illustrated step-by-step by using two examples: a hypothetical problem and the ground vehicle lateral speed estimation problem. A standard H∞-filter is used as the benchmark to illustrate the performance of the proposed method.

scholarly journals Event–Based Feedforward Control of Linear Systems with input Time–Delay

2019 ◽  
Vol 29 (3) ◽  
pp. 541-553
Author(s):  
Carlos Rodríguez ◽  
Ernesto Aranda-Escolástico ◽  
María Guinaldo ◽  
José Luis Guzmán ◽  
Sebastián Dormido
Keyword(s):  
Disturbance Rejection ◽  
Feedforward Control ◽  
Linear Time ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Linear Time Invariant ◽  
Linear Time Invariant Systems ◽  
Control Of Linear Systems ◽  
Event Based ◽  
Performance Conditions

Abstract This paper proposes a new method for the analysis of continuous and periodic event-based state-feedback plus static feed-forward controllers that regulate linear time invariant systems with time delays. Measurable disturbances are used in both the control law and triggering condition to provide better disturbance attenuation. Asymptotic stability and L2-gain disturbance rejection problems are addressed by means of Lyapunov–Krasovskii functionals, leading to performance conditions that are expressed in terms of linear matrix inequalities. The proposed controller offers better disturbance rejection and a reduction in the number of transmissions with respect to other robust event-triggered controllers in the literature.

Multivariable Disturbance Rejection Tracking Controllers for Systems With Slow and Fast Modes

1987 ◽  
Vol 109 (4) ◽  
pp. 363-369 ◽  
Author(s):  
Suhada Jayasuriya
Keyword(s):  
Linear Time ◽  
Design Procedure ◽  
Singularly Perturbed ◽  
Linear Time Invariant ◽  
Singular Perturbation Methods ◽  
Tracking Controllers ◽  
Asymptotic Tracking ◽  
Ill Conditioning ◽  
Linear Time Invariant Systems ◽  
Time Invariant

In this paper we consider the design of controllers for a class of singularly perturbed multi-input-multi-output linear time-invariant systems where the objective is asymptotic tracking in the presence of persisting disturbances. The controller structure consists of a precompensator and a stabilizing compensator used in conjunction with a full order observer. Singular perturbation methods are used to obtain various components of the control system so that numerical ill conditioning is avoided. The design procedure is illustrated by synthesizing a controller for a second order singularly perturbed plant.

scholarly journals Consensus of Noisy Multiagent Systems with Markovian Switching Topologies and Time-Varying Delays

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Yilun Shang
Keyword(s):  
Multiagent Systems ◽  
Linear Time ◽  
Design Method ◽  
Sufficient Conditions ◽  
Time Varying ◽  
Linear Time Invariant ◽  
Graph Properties ◽  
Linear Time Invariant Systems ◽  
Necessary And Sufficient ◽  
Time Invariant

Stochastic multiagent systems have attracted much attention during the past few decades. This paper concerns the continuous-time consensus of a network of agents under directed switching communication topologies governed by a time-homogeneous Markovian process. The agent dynamics are described by linear time-invariant systems, with random noises as well as time-varying delays. Two types of network-induced delays are considered, namely, delays affecting only the output of the agents’ neighbors and delays affecting both the agents’ own output and the output of their neighbors. We present necessary and sufficient consensus conditions for these two classes of multiagent systems, respectively. The design method of consensus gains allows for decoupling the design problem from the graph properties. Numerical simulations are implemented to test the effectiveness of our obtained results as well as the tightness of necessary/sufficient conditions.

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