摘要:

This paper deals with the development of some bilinear models for non-periodic sampling in continuous plants by modelling the sampling interval as a component of the input vector. Using such models, simple optimization techniques, which are valid for on-line computation of the sampling intervals, are derived.

ISSN:0020-7179    

DOI:10.1080/00207178608933650

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

A basic issue in the control of linear time-invariant plants is the effect of neglected high-frequency dynamics on the performance, in particular on the closed-loop stability, of the control system. In this paper, the robustness of various output feedback control designs, based on a reduced-order model with neglected high-frequency dynamics, is investigated using singular perturbation techniques. A general robust design rule is to avoid static output feedback for systems with unmodelled high-frequency dynamics. From a frequency-domain standpoint, the robust design rule is to avoid closing high-frequency plant loops by using strictly proper controllers or controllers with a low-pass filtering property.

ISSN:0020-7179    

DOI:10.1080/00207178608933651

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

General orthogonal polynomials are introduced to approximate the solution of a class of non-linear systems. Using the integration-operational matrix, the product-operational matrix and the derived non-linear operational matrix, the dynamical equation of a non-linear system can be reduced to a set of simultaneous non-linear algebraic equations, thus greatly simplifying the solution. The parameter-identification problem for non-linear systems is also dealt with. An approximate solution for a non-linear optimal-control problem with quadratic performance measure is also considered. Three examples are given to demonstrate the validity and applicability of the orthogonal-polynomial approximations.

ISSN:0020-7179    

DOI:10.1080/00207178608933652

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

We consider a single-input non-linear discrete-time system of the form

ISSN:0020-7179    

DOI:10.1080/00207178608933653

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

The problem of decentralized Luenberger-type observers for large-scale systems is considered. The observers are then used as parts of a general decentralized compensation scheme for linear systems. Lyapunov-type conditions are obtained to ensure overall system stability under local controllability and observability conditions. The overall approach is suboptimal, and performance degradation due to the decentralized structure is computed for comparative study of structures.

ISSN:0020-7179    

DOI:10.1080/00207178608933654

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

Consider an unstable uncertain plant controlled by an elementNp, which saturates when its input |x| ≥M. The system can be stabilized by means of feedback, which, however, is absent duringNpsaturation. If the saturation interval is long enough, it is impossible to recover system stability viaNp. This paper presents a synthesis technique for ensuring thatNpdoes not saturate despite very large command inputs. The basic idea is to prevent |x|>M, via an added saturating elementNwith saturation levelm, which in turn is determined by |x|. A systematic, quantitative design technique is presented for unstable plants with large uncertainty, to achieve (a) desired performance tolerances over the linear range (small command inputs) and (b)acceptable but unavoidably slower response for large command inputs. Both (a) and (b) are achieved over the specified extent of plant uncertainty. The design technique makes use of several previously developed quantitative synthesis theories for minimum- and non-minimum-phase uncertain plants in linear operation, and for uncertain minimum-phase stable plants subject to saturation.

ISSN:0020-7179    

DOI:10.1080/00207178608933655

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

A previous paper presented a synthesis technique for highly uncertain unstable plants subject to a single saturating element. The design philosophy was to use an inserted elementNwith adjustable saturating valuemto control the plant input so as to prevent plant saturations. This paper extends the design technique to plants with both rate and amplitude saturations. The design philosophy is the same, but design of themcontrol is more subtle. The design also guarantees that the linear response satisfies specified tolerances over the range of plant uncertainty. The design theory is based upon previously developed quantitative synthesis techniques for unstable and for non-minimum-phase plants.

ISSN:0020-7179    

DOI:10.1080/00207178608933656

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

This study shows that a controllable systemẋ = Ax + Bu, wherexis ann-vector, can be driven from an arbitrary initial conditionx(0) = x0to an arbitrary final conditionx(tf= xfby a polynomial control function of degreeM= 2r+ 1, wherer=n− rank (B), through a polynomial trajectory of degreeM. A simple algorithm for findinguby solving a set of linear equations, the solution of which yields the polynomial coefficients, is given.

ISSN:0020-7179    

DOI:10.1080/00207178608933657

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

Estimation of parameters in discrete bilinear systems by the use of instrumental variables is considered in this paper. Through a simulation study, it is shown that the method yields superior results compared to earlier methods.

ISSN:0020-7179    

DOI:10.1080/00207178608933658

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor

摘要:

An adaptive control scheme is developed for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload.

ISSN:0020-7179    

DOI:10.1080/00207178608933659

出版商:Taylor & Francis Group    

年代:1986

数据来源: Taylor