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Full-Text Articles in Mechanical Engineering
Optimal Design Of Low Order Controllers Satisfying Sensitivity And Robustness Constraint, Mark L. Nagurka, O. Yaniv
Optimal Design Of Low Order Controllers Satisfying Sensitivity And Robustness Constraint, Mark L. Nagurka, O. Yaniv
Mechanical Engineering Faculty Research and Publications
The set of all stabilizing controllers of a given low order structure that guarantee specifications on the gain margin, phase margin and a bound on the sensitivity corresponds to a region in n-dimensional space defined by the coefficients of the controllers. For several practical criteria defined in the paper it is shown that the optimal controller lies on the surface of that region. Moreover, it is shown how to reduce that region to avoid actuator saturation during operation.
Robust Pi Controller Design Satisfying Gain And Phase Margin Constraints, Mark L. Nagurka, O. Yaniv
Robust Pi Controller Design Satisfying Gain And Phase Margin Constraints, Mark L. Nagurka, O. Yaniv
Mechanical Engineering Faculty Research and Publications
This paper presents a control design algorithm for determining PI-type controllers satisfying specifications on gain margin, phase margin, and an upper bound on the (complementary) sensitivity for a finite set of plants. Important properties of the algorithm are: (i) it can be applied to plants of any order including plants with delay, unstable plants, and plants given by measured data, (ii) it is efficient and fast, and as such can be used in near real-time to determine controller parameters (for on-line modification of the plant model including its uncertainty and/or the specifications), (iii) it can be used to identify the …