A design method of a model-following control system

Abstract

This paper describes and demonstrates a model-following control system that is based on a switching function where an optimal gain matrix is determined by the LQR method. In our proposed method, the optimal gain matrix is derived such that it does not depend on the plant parameters. Simulation results show various cases including the nominal plant and the plant with a modeling error. The experimental study is also performed using a DC motor. The simulation and experimental results show that the proposed method has superior effectiveness.

A New Approach to Compensator Design Based on Multi-Loop Technique and Scalable Forward Model Complexity

“…The key problem of replacing the compensator with a single-loop PID control is its limited robustness. Since in the MFC the plant follows the output of the model, the quality of control in the model loop is critical [18]. The complexity of the forward model should not exceed the robustness constraints of the single-loop control structure.…”

Design of a Model-following Controller Using a Decoupling Active Disturbance Rejection Control Method

“…However, the design methods of the systems are relatively complex, featuring large variations in the plant parameters. In an attempt to solve these problems, a design method based on the switching function in sliding mode control has been developed [8]. However, this design method has been proposed only for single-input singleoutput (SISO) systems.…”

A model-following control using a robust gain matrix based on the normalized plant

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