scholarly journals A Model Reference Based 2-DOF Robust Observer-Controller Design Methodology

10.5772/5385 ◽  
2008 ◽  
Author(s):  
Salva Alcantara ◽  
Carles Pedret ◽  
Ramon Vilanov
Keyword(s):  
Design Methodology ◽  
Controller Design ◽  
Model Reference ◽  
Robust Observer

scholarly journals Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

2021 ◽  
Vol 26 (1) ◽  
pp. 21
Author(s):  
Ahmad Taher Azar ◽  
Fernando E. Serrano ◽  
Nashwa Ahmad Kamal
Keyword(s):  
Design Methodology ◽  
Closed Loop ◽  
Complex Analysis ◽  
Controller Design ◽  
Filter Design ◽  
Design Procedure ◽  
Elliptic Functions ◽  
Loop System ◽  
Closed Loop System ◽  
Loop Shaping

In this paper, a loop shaping controller design methodology for single input and a single output (SISO) system is proposed. The theoretical background for this approach is based on complex elliptic functions which allow a flexible design of a SISO controller considering that elliptic functions have a double periodicity. The gain and phase margins of the closed-loop system can be selected appropriately with this new loop shaping design procedure. The loop shaping design methodology consists of implementing suitable filters to obtain a desired frequency response of the closed-loop system by selecting appropriate poles and zeros by the Abel theorem that are fundamental in the theory of the elliptic functions. The elliptic function properties are implemented to facilitate the loop shaping controller design along with their fundamental background and contributions from the complex analysis that are very useful in the automatic control field. Finally, apart from the filter design, a PID controller loop shaping synthesis is proposed implementing a similar design procedure as the first part of this study.

A controller design methodology for close headway spacing strategies for automated vehicles

2007 ◽  
Vol 80 (2) ◽  
pp. 179-189 ◽  
Author(s):  
A. González-Villaseñor ◽  
A. C. Renfrew ◽  
P. J. Brunn
Keyword(s):  
Design Methodology ◽  
Controller Design ◽  
Automated Vehicles

An Approach to Acoustic Noise Control via Passivity Techniques

2001 ◽  
Author(s):  
A. G. Kelkar ◽  
Suresh M. Joshi
Keyword(s):  
Design Methodology ◽  
Controller Design ◽  
Acoustic Noise ◽  
Broad Band ◽  
Resonant Mode ◽  
Robust Controller ◽  
Finite Dimensional Approximation ◽  
Finite Dimensional ◽  
Guaranteed Stability ◽  
Dimensional Approximation

Abstract This paper presents a passivity-based robust controller design methodology for broad-band control of acoustic noise in ducts. A brief review of passivity-based control using passification techniques is given for non-passive dynamic systems. An application of this design technique to the acoustic duct system is presented. The acoustic duct model being inherently non-passive, passification techniques are necessary to render the system passive. The controller design is based on finite-dimensional approximation and is shown to be robust to unmodeled dynamics and parametric uncertainties. The control design methodology exploits inherent robustness of passivity-based controllers and selective mode attenuation capability of resonant mode controllers. The resulting controller is low-order, robust, broadband, and has guaranteed stability.

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

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