In the advanced tokamak (AT) operating mode of the DIII-D tokamak, an integrated multivariable controller takes into account highly coupled influences of plasma equilibrium shape, profile, and stability control. Time-scale separation in the system allows a multi-loop design: the inner loop closed by the nominal vertical controller designed to control a linear exponentially unstable plant and th...

This article proposes an enhanced control of integrating cascade processes. The importance the scheme shows by controlling a double process with time delay under significant parametric uncertainties and load disturbances. A novel design is proposed based on Smith predictor principle uses fractional-order internal model controller in outer loop. required tuning parameter follows desired gain pha...

The paper 1 addresses the problem of directly estimating the parameters of a reduced order digital controller using a closed loop type identification algorithm. The algorithm minimizes the closed loop plant input error between the nominal closed loop system and the closed loop system using the reduced order controller. It is assumed that a plant model (if necessary validated in closed loop with...

A anti-slug control requires operation around an open-loop unstable operating point. One solution is to design a robust controller based on a mechanistic model. An alternative and more robust approach is to identify an unstable model of the system based on input-output data. We used a closed-loop step test to identify an unstable linear model. From this, we obtained a second order IMC (Internal...

paper proposes a new design procedure of a fixed-structure robust controller for the joint space control of a pneumatic robot arm. The proposed technique is based on the concept of H ∞ loop shaping which is a sensible method for robust controller design. However, in conventional H ∞ loop shaping, the order of the controller is much higher than that of the plant. It is not easy to implement this...

In this paper, we propose a fault tolerant control law for morphing quadrotor, where the considered ability is that of extendable/telescopic arms. This quite recent class systems able to provide good trade-off between payload capabilities, maneuverability, and space occupancy. However, such degrees freedom require dedicated servomotors, which in turn implies more possible faults. Thus, problem ...

A controller change from a current controller which stabilizes the plant to a new controller, designed on the basis of an approximate model of the plant and with guaranteed bounds on the stability properties of the true closed loop, is called a safe controller change. In this paper, we present a model reference approach to the determination of safe controller changes on the basis of approximate...

A controller change from a current controller which stabilises the plant to a new controller, designed on the basis of an approximate model of the plant and with guaranteed bounds on the stability properties of the true closed loop, is called a safe controller change. In this paper, we present a model reference approach to the determination of safe controller changes on the basis of approximate...