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1
Content available Design of robust multi-loop PI controller for improved disturbance rejection with constraint on minimum singular value
Arun Pathiran, Muniraj Rathinam, Boselin Prabhu S.R., Jarin T., Willjuice Iruthayarajan M.
Archives of Control Sciences
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2023
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Vol. 33, No. 4
839--859
EN
Disturbance rejection performance optimization with constraints on robustness for a multivariable process is commonly encountered in industrial control applications. This paper presents the tuning of a multi-loop Proportional Integral (PI) controller method to enhance the performance of load disturbance rejection using evolutionary optimization. The proposed design methodology is formulated to minimize the load disturbance rejection response and the input control energy under the constraints of robust stability. The minimum singular value of multiplicative uncertainty is considered a multi-loop system robust stability indicator. Optimization is performed to achieve the same, or higher level than the most-explored Direct Synthesis (DS) based multi-loop PI controller, which is derived from a conventional criterion. Simulation analysis clearly proved that the proposed multi-loop PI controller tuning method gives better disturbance rejection, and either, the same or a higher level of robust stability when compared to the DS-based multi-loop PI controller.
2
Content available Optimizing Reference Model for Disturbance Rejection Controller for 3-DoF Robot Manipulator
Hoang Duy, Manh Dung Do, Kim Thai Dinh, Le Hai Xuan, Pham Thanh Ngoc, Thai Nguyen Huu, Nguyen Long Mau
Annals of Computer Science and Information Systems
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2022
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Vol. 33
121--127
EN
In this article, an method is proposed combining optimal control for linear system and disturbances observer to control a 3 degree of freedom (3DoF) robot manipulator. By making the tracking error follow a given stable linear reference model through the observer, an optimal controller LQR will be designed to solve the optimization problem for the reference system, thereby leading to good control quality for the original system. The effectiveness of the method is shown through simulation results performed on Matlab/Simulink.
3
Content available Disturbance modeling and state estimation for offset-free predictive control with state-space process models
Tatjewski P.
International Journal of Applied Mathematics and Computer Science
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2014
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Vol. 24, no. 2
313--323
EN
Disturbance modeling and design of state estimators for offset-free Model Predictive Control (MPC) with linear state-space process models is considered in the paper for deterministic constant-type external and internal disturbances (modeling errors). The application and importance of constant state disturbance prediction in the state-space MPC controller design is presented. In the case with a measured state, this leads to the control structure without disturbance state observers. In the case with an unmeasured state, a new, simpler MPC controller-observer structure is proposed, with observation of a pure process state only. The structure is not only simpler, but also with less restrictive applicability conditions than the conventional approach with extended process-and-disturbances state estimation. Theoretical analysis of the proposed structure is provided. The design approach is also applied to the case with an augmented state-space model in complete velocity form. The results are illustrated on a 2 x 2 example process problem.
4
Content available Robust L2 consensus of high-order swarm systems with time-varying delays
Xi J, Yao Z, Liu G., Zhong Y.
Control and Cybernetics
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2014
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Vol. 43, no. 1
59--77
EN
Consensus problems for high-order continuous-time swarm systems in directed networks with time delays, uncertainties and external disturbances are investigated. Firstly, the state space of a swarm system is decomposed into a consensus subspace (CS) and a complement consensus space (CCS). A necessary and sufficient condition for the system with time delays and uncertainties to achieve consensus is presented based on the state projection on CCS, and an explicit expression of the consensus function is shown on the basis of the state projection on CS. Then, a sufficient condition for the system to achieve consensus with a desired L2 performance is given. Finally, numerical simulations are shown to demonstrate theoretical results.
5
Content available Gain-scheduled state-feedback control for active cancellation of multisine disturbances with time-varying frequencies
Heins W., Ballesteros P., Bohn C.
Mechanics and Control
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2011
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Vol. 30, no. 3
127-137
EN
The paper presents a discrete-time LTV controller for the rejection of harmonic disturbances with time-verying based on a state-augmented observer-based state-feedback controller with a time-verying internal model and a scheduled state-feed back gain. The control design method is based on quadratic stability for LPV systems. The design is carried out in discrete time and the controller can easily be implemented on real-time hardware.
PL
W pracy przedstawiono dyskretny regulator LTV do eliminacji składowych harmonicznych zakłóceń. Wprowadzony regulator bazuje na sprzężeniu od zmiennych stanu z zależnym od czasu wewnętrznym modelem. Konstrukcja regulatora wykorzystuje własności stabilności układów LPV. Regulator został opisany równaniami dyskretnymi i może być łatwo zaimplementowany w układach czasu rzeczywistego.
6
Content available remote Nonlinear controller design of a ship autopilot
Tomera M.
International Journal of Applied Mathematics and Computer Science
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2010
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Vol. 20, no 2
271-280
EN
The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.
7
Content available remote Optymalizacja właściwości dynamicznych układu napędowego z połączeniem sprężystym
Szabat K.
Przegląd Elektrotechniczny
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2008
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R. 84, nr 6
145-148
PL
W pracy przedstawiono zagadnienia optymalizacji właściwości dynamicznych układu napędowego z połączeniem sprężystym. Do badań wybrano kaskadową strukturę sterowania z dwoma dodatkowymi sprzężeniami zwrotnymi: od momentu skrętnego i różnicy prędkości. Wymagane właściwości układu dwumasowego przy zmianie prędkości zadanej osiągnięto przez odpowiednie rozłożenie biegunów układu zamkniętego. Eliminację wpływu momentu obciążenia na przebieg prędkości maszyny roboczej uzyskano poprzez kompensację zer transmitancji układu zamknię-tego. Rozważania teoretyczne i badania symulacyjne potwierdzono eksperymentalnie na stanowisku laboratoryjnym.
EN
The issues connected with the optimization of the dynamic characteristics of the drive system with elastic joint are presented in the paper. The cascade control structure with the additional feedbacks from the shaft torque and the load speed is analyzed. The desired response to the changes of the reference signal is ensured by the suitable location of the system closed-loop poles. The load torque effect is removed from the load speed by compensation of the system zeros. The theoretical considerations are confirmed by the simulation and experimental tests.
8
Content available remote Tracking and disturbance rejection in a nonlinear control system with time delay
Chien T.-L., Chen C.-C., Wu C.-J., Huang Y.-C., Chen C.-Y.
Control and Cybernetics
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2007
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Vol. 36, no 1
59-74
EN
We consider the problem of designing a feedback control law in order to reject the unknown bounded disturbance and achieve tracking of reference inputs in control systems described by a class of nonlinear time-delay differential-algebraic equations. Based on the input-output feedback linearization technique and Lya-pimov method for nonlinear state feedback synthesis, a robust globally asymptotical output tracking controller design methodology for nonlinear time-delay control systems with delays on the states and the input is developed. The underlying theoretical approaches are the differential geometry approach and the composite Lyapunov approach. For the view of practical application, the proposed control methodology has been successfully applied to the famous nonlinear automobile idle-speed control system problem.
9
Content available remote Disturbance rejection with stability by measurement constant output feedback for linear time-invariant systems
Kiristis K. H.
Foundations of Computing and Decision Sciences
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2001
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Vol. 26, No. 4
255-165
EN
The problem of disturbance rejection by constant measurement output feedback is studied. Necessary and sufficient conditions are given for the problem to have a solution. A simple procedure is described for the computation of the feedback that solves the problem. This consists in solving two linear equations over the ring of proper rational matrices.
10
Proportional-integral-plus (PIP) control of non-linear systems.
McCabe AP., Young P., Chotai A., Taylor CJ.
Systems Science
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2000
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Vol. 26, nr 3
25-46
EN
A control design procedure is proposed for a large class of discrete-time non-linear systems which combines exact linearization by feedback techniques with an established linear controller design methodology. The combined system thus inherits many of the characteristics of the linear system with regard to tracking, disturbance rejection and robustness. The design both of the linearizing feedback and of the overall linear controller is analyzed and example systems are used to illustrate the design method and demonstrate the performance characteristics of the closed-loop system. Special consideration is given to the effect of the non-linear feedback components on the performance of the controlled system under disturbance conditions and in the case of model mismatch.
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