In this paper, we propose a new method for the synthesis of robust proportional, integral, and derivative (PID) control systems. The proposed method is based on the idea of partial model matching. The stability feeler, a tool for robust stability analysis, is used to stabilize closed-loop systems with uncertainties. An advantage of the proposed method is that it guarantees robust stability of control systems. To clarify the effectiveness of the proposed method, two types of simulations are given. One is the case where the nominal plant is not stable. The other is the case where the plant is not robustly stable although the nominal plant is stable. The simulation results when the nominal plant is not stable show that the controller derived by the proposed method robustly stabilizes the closed-loop system, whereas that derived by conventional partial model matching method cannot stabilize it. Moreover, when the plant is not robustly stable, it can be seen that the controller by the proposed method can robustly stabilize the system. Therefore, it is shown that the proposed method enables one to derive PID controllers robustly stabilizing closed-loop systems.
A pulse programmer is described which generates a wide range of pulse sequences for use with nuclear resonance equipment. The use of chfos integrated circuits makes the unit extremely small and cheap and allows the incorporation of a very simple power supply.Abstract An automatic microtome has been designed for cutting 400 pm snippets of wool and other fibres very uniformly and with square ends.
In this paper a pneumatic positioning stage which is mounted on the base plate and supported by the coil-type spring isolators is considered. The stage is moved by the driving force during positioning and the reaction force causes vibration of the base plate with its natural frequency, which degrades the performance of the positioning. To reduce the effect of the reaction force and improve the positioning time, the base plate jerk feedback is proposed. An external force is used to realize the principle of the base plate jerk feedback based on the theoretical background. The experimental results confirm that the working principle of the base plate jerk feedback obeys the theoretical concepts. The feedback is then employed for the real positioning. Based on the experimental results including repeatability, the effect of the reaction force was considerably reduced and the settling time of the response was improved, after employing the base plate jerk feedback with approximate optimal gain.
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