On the Design of Adaptive Servosystems

1975 ◽  
Vol 97 (4) ◽  
pp. 326-332
Author(s):  
M. Tomizuka
Keyword(s):  
Dynamical System ◽  
Optimal Control ◽  
Computer Simulation ◽  
Tracking Error ◽  
Pole Assignment ◽  
Single Input Single Output ◽  
Assignment Method ◽  
Single Output ◽  
Single Input ◽  
Command Signal

This paper deals with tracking problems in which the plant is single-input single-output and the desired trajectory (command signal) is regarded as the output of an unknown free dynamical system. Two procedures are presented for designing adaptive servosystems which enable the plant output to follow the command signal with zero ultimate tracking error. The first procedure uses a pole assignment method and the second utilizes a result of optimal control. An illustrative example is given, and the effectiveness of the adaptive servosystem is verified by computer simulation.

scholarly journals Commutativity of systems with their feedback conjugates

2018 ◽  
Vol 41 (3) ◽  
pp. 696-700 ◽  
Author(s):  
Mehmet Emir Koksal
Keyword(s):  
Dynamical System ◽  
Differential System ◽  
Linear Time ◽  
Relevant Literature ◽  
Time Varying ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input

After introducing commutativity concept and summarizing the relevant literature, this work is focused on the commutativity of feedback conjugates. It is already known that a linear time-varying differential system describing a single input-single output dynamical system is always commutative with its constant gain feedback pairs. In this article, it is proven that among the time-varying feedback conjugates of a linear time-varying system, constant feedback conjugates are the only commutative feedback pairs and any of the time-varying feedback conjugates cannot constitute a commutative pair of a linear time-varying system.

Model-free sliding mode control, theory and application

2018 ◽  
Vol 232 (10) ◽  
pp. 1292-1301
Author(s):  
Nahid Ebrahimi ◽  
Sadjaad Ozgoli ◽  
Amin Ramezani
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Optimization Procedure ◽  
Experimental Tests ◽  
Single Input Single Output ◽  
Model Free ◽  
Single Output ◽  
Single Input ◽  
New Perspective ◽  
The Cost

In this article, a novel data-driven sliding mode controller for a single-input single-output nonlinear system is designed from a new perspective. The proposed controller is model-free, that is, it is based on just input and output data. Therefore, it is suitable for systems with unknown models. The approach to design the controller is based on an optimization procedure. First, a linear regression estimation is assumed to exist for the system behavior. Then an optimal controller is designed for this estimated model. The cost function is proposed in a way that minimization of it, could guarantee that the sliding function and its first derivative converge to zero. Based on rigorous theoretical analysis, boundedness of the tracking error is then proved. Uncertainty is then considered and the control law is modified to cope with it. To demonstrate the validity and the performance of the proposed method in different situations, different computer simulations and experimental tests have been provided. Results show the effectiveness of the proposed method for different systems in different situations.

Sign in / Sign up

Export Citation Format

Share Document