Controls and Control Theory Commons^™

An Application Of Sliding Mode Control To Model-Based Reinforcement Learning, Aaron Thomas Parisi

Master's Theses

The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based reinforcement learning approaches seek to leverage known optimal or robust control to reinforcement learning tasks by mod- elling the system dynamics and applying well established control algorithms to the system model. Sliding-mode controllers are robust to system disturbance and modelling errors, and have been widely used for high-order nonlinear system control. This thesis studies the application of sliding mode control …

Polar Field Oriented Control With 3rd Harmonic Injection, Martin Todd Hess

Master's Theses

Abstract

POLAR FIELD-ORIENTED CONTROL

with

3^RD HARMONIC INJECTION

Martin Todd Hess

Field Oriented Control (FOC), also known as vector control, is a widely used and well documented method for controlling Permanent-Magnet Synchronous Motors (PMSM) and induction motors. Almost invariably the orientation of the stator and rotor (field) fluxes are described in rectangular coordinates. In this thesis we explore the practicality of using polar coordinates.

Third harmonic injection is also a well-known technique that allows full utilization of the bus (DC-link), thus allowing the motor to run to full base speed without the use of field weakening. This technique potentially …