Parasitic-Capacitance-Induced Degradation of the Transient Behavior of Electrically-Damped Microactuators

2000 ◽  
Author(s):  
Yijian Chen ◽  
Yashesh Shroff ◽  
William G. Oldham
Keyword(s):  
Optimal Control ◽  
Control Theory ◽  
Perturbation Method ◽  
Transient Behavior ◽  
Parasitic Capacitance ◽  
Linear Control ◽  
Control Parameters ◽  
Analytic Modeling ◽  
Linear Control Theory ◽  
Capacitance Effect

Abstract The influence of the parasitic capacitance on the transient behavior of two electrically-damped microactuators is investigated. Analytic modeling of the parasitic-capacitance effect is performed using the perturbation method and linear control theory. We show that the optimal control parameters are changed by the parasitic capacitance. The resultant degradation of the optimal transient behavior of two actuators is observed.

Transient Optimization of an Electrically-Damped Cantilever-Supported Microactuator and the Pull-In Analysis

2000 ◽  
Author(s):  
Yijian Chen ◽  
Yashesh Shroff ◽  
William G. Oldham
Keyword(s):  
Optimal Control ◽  
Simple Model ◽  
Dynamic System ◽  
Perturbation Method ◽  
Performance Index ◽  
Transient Behavior ◽  
Linear Control ◽  
Control Parameters ◽  
Linear Control Theory ◽  
The Stability

Abstract Analytic modeling of the transient behavior of an electrically-damped cantilever-supported microactuator using the perturbation method and linear control theory is presented. Five control parameters are identified and the transient optimization of the dynamic system to reduce the overshoot and settling time is carried out. With the ITAE performance index minimized, the optimal control parameters are obtained and the resultant optimized transient behavior is shown. We apply the Routh-Hurwitz criterion to analyze the stability of the dynamic system and three inequality relations for a stable system are derived. The pull-in phenomenon for a short-cantilever actuator is investigated with this simple model.

A Generalization of the Bang-Bang Principle of Linear Control Theory*

1965 ◽  
Vol 8 (6) ◽  
pp. 783-789
Author(s):  
Richard Datko
Keyword(s):  
Optimal Control ◽  
Control Theory ◽  
Matrix Function ◽  
Linear Time ◽  
Time Optimal Control ◽  
Linear Control ◽  
Dimensional Vector ◽  
R Matrix ◽  
Linear Control Theory ◽  
Time Optimal

In a paper by LaSalle [l] on linear time optimal control the following lemma is proved:Let Ω be the set of all r-dimensional vector functions U(τ) measurable on [ 0, t] with |ui(τ)≦1. Let Ωo be the subset of functions uo(τ) with |uoi(τ) = 1. Let Y(τ) be any (n × r ) matrix function in L1([ 0, t]).

Application of Mobile Robots to Linear Control Theory Education

2020 ◽  
Vol 1 (3) ◽  
Author(s):  
Satoko Yamakawa
Keyword(s):  
Control Theory ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Control Systems ◽  
Linearization Method ◽  
Linear Control ◽  
Linear Control Systems ◽  
Control Engineering ◽  
Linear Control Theory ◽  
Dc Motors

Abstract The knowledge of control engineering for mechanical engineers seems to become more important with the continuous development of automated technologies. To cultivate this knowledge, many experimental devices have been proposed and used. Devices with direct current (DC) motors are widely used because the DC motors can be controlled with sufficient accuracy based on the classical linear control theory. Mobile robots are used as educational platforms attracting the attention of students in various problem-based learning subjects. However, they have been hardly used to teach linear control theory because of the nonlinearity. This paper shows an experimental curriculum to learn control theory using a mobile robot instead of a motor. Although the model of the mobile robot is nonlinear, a strict linearization method makes it possible to adjust the control gains using the linear control theory. By applying the method, the characteristics of linear control systems are explicitly observed in the traveling paths of the mobile robot, so an experimental curriculum to learn the basic linear control theory can be realized using an inexpensive mobile robot. The proposed experimental curriculum was carried out in a class of a mechanical engineering course, and its results are discussed in this paper.

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