A Novel Design Approach for Multivariable Quantitative Feedback Design with Tracking Error Specifications
نویسندگان
چکیده
In this paper, a novel Two-Degree-Of-Freedom (2DOF) design procedure for Multi-Input Multi-Output Quantitative Feedback Theory (MIMO QFT) problems with Tracking Error Specifications (TESs) is presented. In the proposed procedure, the feedback compensator design is separated from the pre-filter design, using the model matching approach and the unstructured uncertainty modeling concept. This paper specially deals with an appropriate transformation of the MIMO system to the equivalent SISO problems, which allows easy design. Simulation results have been provided to show the effectiveness of the proposed methodology.
منابع مشابه
ADAPTIVE FUZZY OUTPUT FEEDBACK TRACKING CONTROL FOR A CLASS OF NONLINEAR TIME-VARYING DELAY SYSTEMS WITH UNKNOWN BACKLASH-LIKE HYSTERESIS
This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...
متن کاملDesign of Centralized CRONE Controller Combined with
Motion control and robust path tracking were extended to non square MIMO systems having more outputs then inputs in this work. The Non square Relative Gain array (NRG) has been used to assess the performance of non-square control systems based on steady-state information. Using NRG and the SSE (Sum of Square Error), a square subsystem can be selected. MIMO-QFT (Quantitative Feedback Theory) rob...
متن کاملQuantitative Non-diagonal Regulator Design for Uncertain Multivariable System with Hard Time-domain Constraints
In this paper a non-diagonal regulator, based on the QFT method, is synthesized for an uncertain MIMO plant whose output and control signals are subjected to hard time-domain constraints. This procedure includes the design of a non-diagonal pre-controller based on a new simple approach, followed by the sequential design of a diagonal QFT controller. We present a new formulation for the latter s...
متن کاملRobust Fuzzy Gain-Scheduled Control of the 3-Phase IPMSM
This article presents a fuzzy robust Mixed - Sensitivity Gain - Scheduled H controller based on the Loop -Shaping methodology for a class of MIMO uncertain nonlinear Time - Varying systems. In order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by Takagi and Sugeno’s (T - S) fuzzy approach. Both Loop - Shaping methodology and...
متن کاملRobust Fractional-order Control of Flexible-Joint Electrically Driven Robots
This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2006