A model matching framework for haptic controller design

2017 ◽  
Author(s):  
Indrajit Desai ◽  
Abhishek Gupta ◽  
Debraj Chakraborty
Keyword(s):  
Controller Design ◽  
Model Matching

Model-Matching Controller Design With Input-Output Data—A Numerical Approach for Redundantly Actuated Systems

1994 ◽  
Vol 116 (4) ◽  
pp. 800-805
Author(s):  
Jenq-Tzong H. Chan
Keyword(s):  
Explicit Knowledge ◽  
Controller Design ◽  
Numerical Technique ◽  
Open Loop ◽  
Loop System ◽  
Synthesis Process ◽  
Model Matching ◽  
Input Output ◽  
Output Data ◽  
Redundantly Actuated

A numerical technique for control system synthesis based on input-output data is presented. The method is applicable when the system is open-loop stable and redundantly actuated. The major merits of the method are as follows. First, the closed-loop system equation may be arbitrarily assigned. Second, explicit knowledge of an open-loop system model is not needed for controller synthesis. Third, the stability of the synthesized system may be verified during the synthesis process; hence, the workability of the controller is ensured.

scholarly journals The discrete-time tracking problem with H∞ model matching approach plus integral control

2019 ◽  
Vol 292 ◽  
pp. 01018
Author(s):  
Murat Akın ◽  
Tankut Acarman
Keyword(s):  
Discrete Time ◽  
Closed Loop ◽  
Controller Design ◽  
Model Matching ◽  
Matching Problem ◽  
Design Algorithm ◽  
Integral Control ◽  
Loop Transfer Function ◽  
Model Transfer ◽  
Static Output

In this study, the discrete-time H∞ model matching problem with integral control by using 2 DOF static output feedback is presented. First, the motivation and the problem is stated. After presenting the notation, the two lemmas toward the discrete-time H∞ model matching problem with integral control are proven. The controller synthesis theorem and the controller design algorithm is elaborated in order to minimize the H∞ norm of the closed-loop transfer function and to maximize the closed-loop performance by introducing the model transfer matrix. In following, the discrete-time H∞ MMP via LMI approach is derived as the main result. The controller construction procedure is implemented by using a well-known toolbox to improve the usability of the presented results. Finally, some conclusions are given.

Energy- and flatness-based control of DC-DC converters with nonlinear load

2018 ◽  
Author(s):  
Juan Tomassini ◽  
Alejandro Donaire ◽  
Sergio Junco
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Digital Simulation ◽  
Model Matching ◽  
Power Electronic Converters ◽  
Nonlinear Load ◽  
Change Of Variables ◽  
Dc Power ◽  
Loop Dynamics ◽  
Matching Equation

"This paper presents a passivity-based controller design (PBC) aimed at stabilizing DC-DC power electronic converters with nonlinear dissipative loads. The converters considered in this work are the buck, the boost and the buck-boost. First, Bond Graph technique is used to obtain the flat output of each converter model. The controller is designed within the port-Hamiltonian (pH) framework, ensuring stability and other desired closed-loop properties. To this aim a desired closedloop dynamics in pH form with a quadratic storage function and a flat-output-inspired change of variables are proposed, which are common to the three converters. The controllers that render the closed-loop dynamics in the desired pH form are obtained via model matching. This design has two major advantages. The first is that the so-called matching equation can be solved by construction; thus, the cumbersome task of solving partial differential equations is avoided. The second advantage is that in all the converters treated the closed-loop dynamics is linear; thus, the performance of the control system can be easily determined via the tuning of the eigenvalues of the closed-loop evolution matrix. The performance is assessed through digital simulation."

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