Design and Analysis of Flexible Arms for Minimum-Phase Endpoint Control

1990 ◽  
Author(s):  
Jahng-Hyon Park ◽  
Haruhiko Asada
Keyword(s):  
Minimum Phase ◽  
Endpoint Control ◽  
Flexible Arms

Dynamic Analysis of Noncollocated Flexible Arms and Design of Torque Transmission Mechanisms

1994 ◽  
Vol 116 (2) ◽  
pp. 201-207 ◽  
Author(s):  
Jahng-Hyon Park ◽  
Haruhiko Asada
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Design Guidelines ◽  
Phase System ◽  
Nonminimum Phase ◽  
Transmission Mechanisms ◽  
Flexible Arm ◽  
Torque Transmission ◽  
Endpoint Control ◽  
Flexible Arms

A new actuation method for one-link flexible arms is presented. The endpoint control of a flexible arm has been known as a nonminimum phase system due to the noncollocated sensor and actuator. By relocating the actuator near the endpoint, the system can be modified to approximate a minimum phase system. In order to implement this, transmission mechanisms are developed which transform the actuator torque to a combination of force and torque and transmit them to an appropriate point on the arm link. Exact pole-zero configurations are analyzed with regard to the location of the actuation point and the type of actuator used. Guidelines for design of the transmission mechanisms and the actuation points are developed with respect to the operation bandwidth, stability and controllability. A prototype flexible arm is designed based on the design guidelines and open-loop and closed-loop tests are performed to verify the effectiveness.

Data-driven Controller Tuning for Non-minimum Phase Plants with Stability Constraints

2014 ◽  
Vol 134 (12) ◽  
pp. 1802-1808
Author(s):  
Ryota Matsuo ◽  
Kazuhiro Yubai ◽  
Daisuke Yashiro ◽  
Junji Hirai
Keyword(s):  
Data Driven ◽  
Minimum Phase ◽  
Controller Tuning

scholarly journals Decentralized control of sequentially minimum phase systems

1999 ◽  
Vol 44 (10) ◽  
pp. 1909-1913 ◽  
Author(s):  
K.H. Johansson ◽  
A. Rantzer
Keyword(s):  
Decentralized Control ◽  
Minimum Phase ◽  
Phase Systems

Design and implementation of decoupled periodic control scheme for a laboratory-based quadruple-tank process

2021 ◽  
pp. 095965182110228
Author(s):  
Jatin K Pradhan ◽  
Arun Ghosh
Keyword(s):  
Real Time ◽  
High Frequency ◽  
Linear Time ◽  
Disturbance Attenuation ◽  
Minimum Phase ◽  
Periodic Control ◽  
Linear Time Invariant ◽  
Control Scheme ◽  
Gain Margin ◽  
Time Invariant

It is well known that linear time-invariant controllers fail to provide desired robustness margins (e.g. gain margin, phase margin) for plants with non-minimum phase zeros. Attempts have been made in literature to alleviate this problem using high-frequency periodic controllers. But because of high frequency in nature, real-time implementation of these controllers is very challenging. In fact, no practical applications of such controllers for multivariable plants have been reported in literature till date. This article considers a laboratory-based, two-input–two-output, quadruple-tank process with a non-minimum phase zero for real-time implementation of the above periodic controller. To design the controller, first, a minimal pre-compensator is used to decouple the plant in open loop. Then the resulting single-input–single-output units are compensated using periodic controllers. It is shown through simulations and real-time experiments that owing to arbitrary loop-zero placement capability of periodic controllers, the above decoupled periodic control scheme provides much improved robustness against multi-channel output gain variations as compared to its linear time-invariant counterpart. It is also shown that in spite of this improved robustness, the nominal performances such as tracking and disturbance attenuation remain almost the same. A comparison with [Formula: see text]-linear time-invariant controllers is also carried out to show superiority of the proposed scheme.

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