A robust controller design for a robotic system

Controller Design for a Robotic Arm System

A Robust FACTS Damping Controller Design to Mitigate Interarea Oscillations in a Multi-machine Power System

In this paper, damping of interarea oscillations using simultaneous coordination of static Var compensator (SVC) and power system stabilizer (PSS) is considered.  To be effective in damping of oscillations, the best-input signal of power oscillation damper (POD) associated with SVC is selected using Hankel singular values (HSVs), and right-hand plane zeros (RHP-zeros). The 4-machine-2 area...

Design of robust controller by neuro-fuzzy system in a prescribed region via state feedback

In this paper, first a new algorithm for pole assignment of closed-loop multi-variable controllable systems in a prescribed region of the z-plane is presented. Then, robust state feedback controllers are designed by implementing a neural fuzzy system for the placement of closed-loop poles of a controllable system in a prescribed region in the left-hand side of z-plane. A new method based on the...

Design of Nonlinear Robust Controller and Observer for Control of a Flexible Spacecraft

Two robust nonlinear controllers along with a nonlinear observer have been developed in this study to control a 1D nonlinear flexible spacecraft. The first controller is based on dynamic inversion, while the second one is composed of dynamic inversion and µ-synthesis controllers. The extension of dynamic inversion approach to flexible spacecraft is impeded by the non-minimum phase characteristi...

A New Approach for QFT-type Robust Controller Design in Uncertain Multivariable Systems

This paper presents a robust controller design methodology for a class of linear uncertain multivariable systems with hard time-domain constraints on their outputs and control signals in response to step disturbance inputs. In this approach, the m×m MIMO system is replaced by m2 SISO systems and then, using the QFT technique, desirable controllers are synthesized. The final controller will be d...