MATLAB based GUIs for linear controller design via convex optimization

Abstract

Owing to the current evolution of computational tools, a complicated parameter optimization problem could be effectively solved by a computer. In this paper, a CAD tool for multi-objective controller design based on MATLAB program is developed. In addition, we construct simple GUIs (using GUIDE tools within MATLAB) to provide a visual approach in specifying the constraints. The linear controller design problem can be cast as the convex optimization subjected to time domain and frequency domain constraints. This optimization problem is efficiently solved within a finite dimensional subspace by a practical ellipsoid algorithm. In the design process, we include a model reduction of the resulting controller to speed up the computational efficiency. Finally, a numerical example shows the capability of the program to design multi-objective controller for a one-link flexible robot arm. ß

An improved algorithm for partial fraction expansion based frequency weighted balanced truncation

“…Consider the one-link flexible robot arm controller reduction problem [16] as in Example 2 of [11]. The transfer function of the flexible robot arm from the motor voltage signal to angular position of a load mass is given by The input weight V (s) = (I + G(s)K(s)) −1 and output weight W (s) = (I + G(s)K(s)) −1 G(s) are used as the frequency weighted models.…”

More carrot than stick: Encouraging computer programming in thermal design projects

“…There are many examples of Matlab software used in design courses on diverse subjects, including: robotics 1–3; control theory 4, 5; four‐bar linkages 6, 7; signal analysis 8, 9; and, electrical power generation, transmission, and control 10–12. There are also several examples of Matlab use in thermal science courses.…”

Minimization of Maximum Transient Energy Growth by Output Feedback

“…Alternatively, the convex optimization over Q approach can be used to incorporate other design objectives (Boyd and Barratt, 1991). MATLAB software to achieve this is available (Khaisongkram and Banjerdpongchai, 2003). A weakness of the approach is that it is not clear how to choose the set Λ s .…”