A pole-placement approach that matches identification and control objectives

1997 ◽  
Author(s):  
U. Holmberg ◽  
P. Myszkorowski ◽  
D. Bonvin
Keyword(s):  
Pole Placement ◽  
And Control

scholarly journals Mathematical Modelling and Control of a Two-Wheeled PUMA-LikeVehicle

2016 ◽  
Vol 6 (2) ◽  
pp. 11 ◽  
Author(s):  
Khaled M Goher
Keyword(s):  
Mathematical Modelling ◽  
Sliding Mode ◽  
Impact Load ◽  
State Space Model ◽  
Linear Quadratic Regulator ◽  
The Body ◽  
Pole Placement ◽  
General Motors ◽  
Linear Quadratic ◽  
And Control

<p class="1Body">This paper presents mathematical modelling and control of a two-wheeled single-seat vehicle. The design of the vehicle is inspired by the Personal Urban Mobility and Accessibility (PUMA) vehicle developed by General Motors® in collaboration with Segway®. The body of the vehicle is designed to have two main parts. The vehicle is activated using three motors; a linear motor to activate the upper part in a sliding mode and two DC motors activating the vehicle while moving forward/backward and/or manoeuvring. Two stages proportional-integral-derivative (PID) control schemes are designed and implemented on the system models. The state space model of the vehicle is derived from the linearized equations. Controller based on the Linear Quadratic Regulator (LQR) and the pole placement techniques are developed and implemented. Further investigation of the robustness of the developed LQR and the pole placement techniques is emphasized through various experiments using an applied impact load on the vehicle.</p>

Design and Testing of a Servo Controller for Pneumatic Cylinders

1989 ◽  
Vol 203 (1) ◽  
pp. 21-27 ◽  
Author(s):  
J A Marchant ◽  
M J Street ◽  
P Gurney ◽  
J A Benson
Keyword(s):  
Closed Loop ◽  
Experimental System ◽  
External Source ◽  
Pole Placement ◽  
Pneumatic Cylinder ◽  
Design Technique ◽  
Space Design ◽  
Damped Oscillations ◽  
Servo Controller ◽  
And Control

A closed-loop method of controlling a pneumatic cylinder is proposed where the cylinder can respond to varying position demands from an external source. The method uses a state space design technique involving the experimental identification of a dynamic model for the cylinder and valve combination. Data for the identification are obtained from an initial phase in which the valve and cylinder are excited by an operator. The controller constants are then derived using a pole placement design technique. The model and control constants are derived within the controller, resulting in automatic tuning. Experimental data are presented in response to step and ramp inputs. With moderate closed-loop bandwidths the response is well damped but as the designed bandwidth increases, lightly damped oscillations occur in the response, probably caused by differences between the responses of the experimental system and its model. If greater closed-loop bandwidths are required further work needs to be done on the form and order of the model.

Identification and control of nonlinear systems using PieceWise Auto-Regressive eXogenous models

2019 ◽  
Vol 41 (14) ◽  
pp. 4050-4062
Author(s):  
Zeineb Lassoued ◽  
Kamel Abderrahim
Keyword(s):  
Nonlinear System ◽  
Nonlinear Systems ◽  
Linear Systems ◽  
Experimental Results ◽  
Pole Placement ◽  
Nonlinear Behaviour ◽  
Auto Regressive ◽  
Identification Approach ◽  
Arbitrary Precision ◽  
And Control

In this paper, we consider the problems of nonlinear system representation and control. In fact, we propose a solution based on PieceWise Auto-Regressive eXogenous (PWARX) models since these models are able to approximate any nonlinear behaviour with arbitrary precision. Moreover, the identification and control approaches of linear systems can be extended to these models because the parameters of each sub-model are linearly related to the output. The proposed solution is based on two steps. The first allows to represent the nonlinear system by a PWARX model using the identification approach. The second consists in designing a controller for each sub-model using the pole placement strategy. Simulation and experimental results are presented to illustrate the performance of the proposed approach.

Dynamic Modeling and Control of Dual Wheeled Mobile Robots Compliantly Coupled to a Common Payload

1999 ◽  
Vol 121 (3) ◽  
pp. 457-461 ◽  
Author(s):  
Thurai Vinay ◽  
Bradley Postma ◽  
Theo Kangsanant
Keyword(s):  
Mobile Robots ◽  
Pole Placement ◽  
Nonlinear Controller ◽  
Wheeled Mobile Robots ◽  
Adaptive Controllers ◽  
Modeling And Control ◽  
Self Tuning ◽  
The Individual ◽  
And Control ◽  
Placement Technique

Lagrange formalism is applied to derive a dynamic model, and design a nonlinear controller for two nonholonomic, differentially steered, wheeled mobile robots compliantly linked to a common payload. The resulting multivariable system model is of a large order and can be block decoupled by selective state feedback into five independent subsystems, two of which effectively represent the deviation dynamics of the individual robots from a prescribed path; two others represent their forward motion dynamics; while the fifth describes the payload dynamics. Controllers for each of the robot subsystems, including self-tuning adaptive controllers for the nonlinear deviation dynamics subsystems, are designed by the pole-placement technique. System performance is then evaluated via simulation for the case where each robot is undergoing curvilinear motion.

Temperature Field Regulation in Thermal Cutting for Layered Manufacturing

1999 ◽  
Vol 121 (3) ◽  
pp. 440-447 ◽  
Author(s):  
N. Fourligkas ◽  
C. Doumanidis
Keyword(s):  
Temperature Field ◽  
Thermal Processing ◽  
Pole Placement ◽  
Time Variability ◽  
Material Structure ◽  
Source Power ◽  
Modeling And Control ◽  
Thermal Sensing ◽  
Process Disturbances ◽  
And Control

A general thermal modeling and control methodology for thermal processing of layered materials for rapid prototyping technologies is established in this article. An analytical multivariable model of lumped temperature outputs generated by heat inputs on a surface grid is developed, based on Green’s function and state-space descriptions. The few independent parameters needed in such a linearized formulation are experimentally identified, and their time-variability reflects the heat transfer nonlinearities and process disturbances. A robust controller with thermal feedback is designed by pole placement methods, to obtain a specified dynamic temperature field yielding the desired material structure and properties. The regulated thermal processing is optimized in real time by proper heat source power modulation and torch guidance through a simulated annealing strategy. Its performance is tested on both the computer model and a laboratory station, using robotically guided plasma-arc cutting and infrared thermal sensing, in regulating the sensitized zone during blanking of an elementary contour pattern on stainless steel.

Simultaneous Structural and Control Design Using Constraint Functions

1988 ◽  
Vol 110 (1) ◽  
pp. 65-72 ◽  
Author(s):  
J. M. Starkey ◽  
P. M. Kelecy
Keyword(s):  
Control System ◽  
System Dynamics ◽  
Structural Design ◽  
Closed Loop ◽  
Control Design ◽  
Pole Placement ◽  
Design Parameters ◽  
Weighted Sum ◽  
Design Technique ◽  
And Control

A design technique is presented which modifies system dynamics by simultaneously considering control system gains and structural design parameters. Constraint functions are devised that become smaller as (1) structural design parameters and feedback gains become smaller, and (2) closed-loop eigenvalues migrate toward more desirable regions. By minimizing a weighted sum of these functions, the interaction between design performance and design parameters can be explored. Examples are given that show the effects of the weighting parameters, and the potential advantages of this technique over traditional pole placement techniques.

scholarly journals Improving the Ambient Temperature Control Performance in Smart Homes and Buildings

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 423
Author(s):  
Fernando Fontes ◽  
Rómulo Antão ◽  
Alexandre Mota ◽  
Paulo Pedreiras
Keyword(s):  
Energy Consumption ◽  
Solar Radiation ◽  
Low Cost ◽  
Control Signal ◽  
Pole Placement ◽  
Error Signal ◽  
External Temperature ◽  
Performance Gains ◽  
And Control ◽  
Equipment Lifetime

Currently, it is becoming increasingly common to find numerous electronic devices installed in office and residential spaces as part of building automation solutions. These devices provide a rich set of data related to the inside and outside environment, such as indoor and outdoor temperature, humidity, and solar radiation. However, commercial of-the-shelf climatic control systems continue to rely on simple controllers like proportional-integral-derivative or even on-off, which do not take into account such variables. This work evaluates the potential performance gains of adopting more advanced controllers, in this case based on pole-placement, enhanced with additional variables, namely solar radiation and external temperature, obtained with dedicated low-cost sensors. This approach is evaluated both in simulated and real-world environments. The obtained results show that pole-placement controllers clearly outperform on-off controllers and that the use of the additional variables in pole-placement controllers allows relevant performance gains in key parameters such as error signal MSE (17%) and control signal variance (40%), when compared with simple PP controllers. The observed energy consumption savings obtained by using the additional variables are marginal (≈1%, but the reduction of the error signal MSE and control signal variance have a significant impact on energy consumption peaks and on equipment lifetime, thus largely compensating the increase in the system complexity.

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