Methodology on low-order robust controllers. Application to a tandem fan in a platform

Galindo, R.; Herrera, A.; Martínez, Jesús Castro

doi:10.1109/acc.2000.876632

Cited by 6 publications

(2 citation statements)

References 4 publications

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“…N p (s)´6 = 0, and the H optimal value for the parameter R (s), given by the intersection function of [3] [4], without an augmented system. Alternatively, the optimal value of R (s) can be accomplished using an inner-outer factorization of the plant and the Nehari Theorem for the general solution of the standard H control problem [10].…”

Section: Problem Formulationmentioning

confidence: 99%

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Mixed sensitivity H//sub∞/ control of a three-tank-system

Galindo

Proceedings of the 2005, American Control Conference, 2005.

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A mixed sensitivity H control methodology is tested on a Three-Tank-System laboratory prototype. The methodology is based on a stable precompensator and its dual post-compensator which allows to solve a mixed sensitivity problem. Frequency responses show that it is possible to shape the open loop transfer function by the control parameters. Time responses are given under flow leak, close connection valve and sensor failure.

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Section: Problem Formulationmentioning

confidence: 99%

“…Consider a strictly proper nominal plant P (s) = C (sI n A) 1 B in the scheme of Fig. 2 where the dynamic filter o is given by (3). Suppose that P (s) satisfies the PIP [7] and that K i (s), i = 1, 2 are given by (4).…”

Section: H Control Reviewmentioning

confidence: 99%

Mixed sensitivity H//sub∞/ control of a three-tank-system

Galindo

Proceedings of the 2005, American Control Conference, 2005.

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Const ant Approximat ion of a Mixed Sensitivity %Clmontro l Law, and its Application to the Speed Control of a DC Motor

Galindo¹

2006

2006 American Control Conference

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Ahstmet.--4 inixed sensitivitj-'FIX control law. and it,s roiist~ailt approxiiilatioi1 are proposed. Linear Tiine hivarialit (LTI) Multi-Input Multi-Out,put (hIIhIO) systems are considered. The Const,ant Xpproxinlation of a Mixed Sensit,ivit,y ' H , control law (CoXhISe) is based on asj-inpt,ot,ic Bode approxiinations of low frequency. Necessary and sufficieiit st,ahility coiidit~ioiis are gix-ell for bot,h coiitrol lan-s applied to the LTI SIISIO syst,eiii. Ail ilnpleiiieiit~at~ioii of t,lie CoASISe for t,lie speed colitrol of a DC inot,or laboratorj-prot,otj-pe. is present,ed. The inlpleinentation is realized in a Prograinnlable Logic Colit,roller (PLC) of low colnputatiolial resources. Also. a Linear l I I l I O uilst,ahle model of a nlecllanical syst,ein. illust,rates t,he result,^. Keyu~ords.-Robust st,ahilitj-. robust performance. strong stability. stabilizing con~pensators. duality. pseudo inverses. t,rackingWe colisider robust coiiipelisat~ors for syst,eiiis under admissible external dist,urhances and uncertainties. and freyuelicy design specificatiolis wliicli give iiiore insight for the engineer [11]. The problems of robust stabilit,y and perforlnaiice call he coiiserx-at,ix-ely coiiibiiied oil a single 'FIX ~ioriii specificat,ioii [Id]. i. e.. t,lie mixed seiisitivitj-problem. and solx-ed using classical algorit,hnls [3]. In [5] and [7] the inixed sensiti~ity problem is solx-ed using an intersection function of the 'FIX norm of the sensitivity and coiiiplelneiitary seiisitivity fulictiolis. without an augmented system. and allowing to fix t,he free paraineter of the stabilizing coinpensat,or [11][12] t,o a constant value. These allows to get low conlplexit,y coinpensators. The 'FIX cont,rol law of [7] solves t,he inixed sensit,ivit,y prohleiii through a pre-colnpelisat,or aiid its dual post-coinpensat,or. in a control-observer scheme. Suficient st,ahilitj-condit~ions are gix-en in [7] for t,lle ox-era11 sj-st,ein. The four-parameter tuning procedure of [7] iinproves the perforiiialice. Tliis ~net,liodology was test,ed ill a t,hree-tank-system laboratory prototype ill [8].Lon-order coiiipeiisators for LTI systems liax-e beell dex-eloped in [I]. because they are easier to analyze and to evaluate and for reasons of reliahilitj-. cost and less coinput~at~ional effort. This reduction of conlplexit,y allows for a inore silit,aI)le iinpleiileiitatioii. I~erause t,he fast dylialnics of t,lie colnpelisat,or (high gaiiis) are cut, off. Then. it is possible to increase t,he sampling period and to avoid sat,uration of the actuat,ors. There are at, least t,hree inetllods t,o design a low order coinpensator for a liigli order plant,. The first oiie is to approximate the plant aiid t,heii desigii t,lie coiiipeiisat~or. The effects of t,he approxilnatioii call he propagat,ed through t,lie design process. and a sat,isfact,ory approxiination of the plant requires some knowledge in adx-ance of the coinpelisat,or [4] leadiiig to all it,erative process. 111 t,he direct second one. the parameters of the low order coinpens...

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Control of underactuated systems. Application to a tandem fan in a 3 DOF platform

Galindo

Lozano²

Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)

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Methodology on low-order robust controllers. Application to a tandem fan in a platform

Cited by 6 publications

References 4 publications

Mixed sensitivity H//sub∞/ control of a three-tank-system

Mixed sensitivity H//sub∞/ control of a three-tank-system

Const ant Approximat ion of a Mixed Sensitivity %Clmontro l Law, and its Application to the Speed Control of a DC Motor

Control of underactuated systems. Application to a tandem fan in a 3 DOF platform

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