Difference feedback can stabilize uncertain steady states

Kokame, Hideki; Hirata, Kentaro; Konishi, Keiji; Mori, Takahide

doi:10.1109/9.975474

Cited by 82 publications

(37 citation statements)

References 17 publications

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“…Although it has unveiled the effectiveness of the steady-state blocking zeros, the design procedure of the operator-support control scheme is burdensome due to infinite-dimensionality of the closed-loop system which is inherited from delayed feedback control (see [9] and [10] for the detailed design method for delayed feedback controllers).…”

Section: Introductionmentioning

confidence: 99%

Washout Control for Manual Operations

Takimoto

Yamamoto

Oku

2008

IEEE Trans. Contr. Syst. Technol.

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Abstract-It is known that limitations of human accuracy in manual manipulation hinder the quality of work performed by human operators of manual control systems. Indeed, movements of operators are apt to cause undesirable vibrations in manual control systems. In this paper, we propose a new operator-support control scheme for suppressing harmful oscillatory motions in such systems without disturbing human operator's manipulation. The proposed scheme is based on the fact that steady-state blocking zeros of a feedback controller do not affect the steady-state control input. A finite-dimensional feedback controller with steady-state blocking zeros, called a washout controller in this paper, plays the central role in support for operator's manipulation. However, the dynamics of a manual control system may become different significantly from its initial model used for the design of an initial washout controller when it is applied to the manual control system. Such difference can result in poor performance of operator-support control. In order to improve it, an iterative procedure is presented for redesign of washout controllers based on closed-loop subspace identification. Closed-loop identification is performed to refine the model for the control design, and then a more sophisticated washout controller is obtained using the identified model. The effectiveness of the proposed scheme is demonstrated by an experiment on manual control of an inverted pendulum.

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Section: Introductionmentioning

confidence: 99%

Washout Control for Manual Operations

Takimoto

Yamamoto

Oku

2008

IEEE Trans. Contr. Syst. Technol.

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“…When the closed-loop system by a dynamical controller having a steady-state blocking zero is asymptotically stable, from (7), we have . Dynamic controllers with a steady-state blocking zero have been studied by several researchers [1]- [6]. In this paper, we focus on state-derivative feedback control, and propose a new dynamic state-derivative feedback controller which has steady-state blocking zeros.…”

Section: Figure 1 Closed-loop System Of Linearized System and Contromentioning

confidence: 99%

“…In this paper, we focus on the class of state-derivative feedback control as with [6]. Then, there exists some practical problems where the state-derivative signals are easier to obtain than the state signals.…”

Section: Introductionmentioning

confidence: 99%

“…As a control method for stabilizing equilibrium points without their exact information, delayed feedback control [1]- [2], adaptive feedback control [3], washout filter-aided feedback control [4], washout control [5], and state-derivative feedback control [6] have been proposed in previous researches. These feedback controllers eliminate the dependence on the steady-state by using its steady-state blocking zero.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic State-Derivative Feedback Controller for Uncertain Equilibrium Point Stabilization

Takimoto¹,

Shigekuni²

2016

IJCA

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“…The delayed feedback controller eliminates the dependence on the steady-state to use its steady-state blocking zero (steadystate blocking zeros mean blocking zeros at zero frequency). In contrast to the simple structure of delayed feedback controllers, the design of feedback parameters is complicated, because the closed-loop system with delayed feedback is an infinite-dimensional system in continuous-time (see [2] and [3] for details).…”

Section: Introductionmentioning

confidence: 99%

Reduced-order Washout Controllers Stabilizing Uncertain Equilibrium Points

Takimoto

Yamamoto

2007

2007 American Control Conference

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Abstract-We consider a local stabilization problem of an uncertain equilibrium point existed in a nonlinear continuoustime system by a finite-dimensional dynamical state feedback controller. In previous research, it is investigated that steadystate blocking zeros of the stabilizing controller play an important role. Such a controller is called a washout controller. In this paper, we develop a design method for reduced-order washout controllers whose order is less than the plant's order. Additionally, we also consider a local stabilization problem of an uncertain fixed point of a given discrete-time system.

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Difference feedback can stabilize uncertain steady states

Cited by 82 publications

References 17 publications

Washout Control for Manual Operations

Washout Control for Manual Operations

Dynamic State-Derivative Feedback Controller for Uncertain Equilibrium Point Stabilization

Reduced-order Washout Controllers Stabilizing Uncertain Equilibrium Points

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