A case study in distributed control: Elastically interconnected seesaw-cart systems

Lobrović, Mihael; Jokic, A.; Milić, Vladimir; Žilić, Tihomir; Jokić, Marko; Kasač, Josip; Domitran, Zoran; Crneković, Mladen

doi:10.1109/med.2017.7984274

Cited by 3 publications

(2 citation statements)

References 11 publications

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“…In Figure 1, a photo of the experimental set-up of the seesaw-cart mechanical system is shown. The system considered in this paper is part of the laboratory set-up preliminary described in Lobrovic et al (2017). The experimental set-up structure can be divided into two main parts – mechanical and electrical.…”

Section: Experimental System Descriptionmentioning

confidence: 99%

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An application of Newton-like algorithm for H∞ proportional–integral–derivative controller synthesis of seesaw-cart system

Milić

Arandia-Kresic

Lobrović

2021

Transactions of the Institute of Measurement and Control

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This paper is concerned with the synthesis of proportional–integral–derivative (PID) controller according to the [Formula: see text] optimality criterion for seesaw-cart system. The equations of dynamics are obtained through modelling a seesaw-cart system actuated by direct-current motor via rack and pinion mechanism using the Euler–Lagrange approach. The obtained model is linearised and synthesis of the PID controller for linear model is performed. An algorithm based on the sub-gradient method, the Newton method, the self-adapting backpropagation algorithm and the Adams method is proposed to calculate the PID controller gains. The proposed control strategy is tested and compared with standard linear matrix inequality (LMI)-based method on computer simulations and experimentally on a laboratory model.

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Section: Experimental System Descriptionmentioning

confidence: 99%

“…Preliminary but not in detailed mathematical description of considered seesaw-cart system was published in authors’ previous work (Lobrovic et al, 2017). In this section, a more detailed derivation of mathematical model is presented.…”

Section: Mathematical Model Of Seesaw-cart Systemmentioning

confidence: 99%