Sliding Mode Controller for Unstable Systems
|
|
- Rolf Edwards
- 5 years ago
- Views:
Transcription
1 S. SIVARAMAKRISHNAN e al., Sliding Mode Conroller for Unsable Sysems, Chem. Biochem. Eng. Q. 22 (1) (28) 41 Sliding Mode Conroller for Unsable Sysems S. Sivaramakrishnan, A. K. Tangirala, and M. Chidambaram* Deparmen of Chemical Engineering, Indian Insiue of Technology, Madras, Chennai 636 Original scienific paper Received: Ocober 2, 26 Acceped: Sepember 15, 27 The mehod proposed by Rojas e al. 1 for he design of sliding mode conrollers (SMC) for unsable firs order plus ime delay sysems, is exended for delay-ime consan raio () up o 1.8. The SMC seings obained for various are fied by simple equaions. Up o = 1.2, he mehod is found o be more robus han ha of laes PID Conroller proposed by Padmasree e al. 2 There is no mehod available in lieraure o sabilize unsable sysems using PID conroller for > 1.2. Simulaion resuls are also given for a nonlinear bioreacor conrol problem. Key words: Sliding Mode Conrol, Firs Order plus Time Delay Sysems (FOPDT), Unsable Sysems Inroducion Sliding Mode Conrol (SMC) is a robus and simple procedure 3 o synhesize conrollers for linear and nonlinear processes. Convenional conrollers, such as PID, lead-lag or Smih predicors, are someimes insufficienly versaile o compensae for he uncerainies in he process parameers. A SMC could be designed o conrol linear and nonlinear sysems wih he assumpion ha he robusness of he conroller will ake care of he variaions in process parameers due o noise and oher disurbances. The aim of his paper is o design a SMC for unsable firs order plus delay ime (FOPDT) processes where > 1. A mehod for uning SMC for open loop unsable processes has been presened by Rojas e al. 1 However he mehod has some inheren disadvanages. The mehod does no work for > 1. So he mehod is modified o develop uning formulae for SMC for values of > 1. The performance of he closed loop sysem is compared wih ha of laes PID Conroller seings proposed by Padmasree e al. 2 The paper is organized as follows. Secion 2 briefly presens some basic conceps abou Sliding Mode Conrol. Secion 3 gives he SMC proposed by Rojas e al. 1 and is limiaions. Secion 4 describes he procedure o overcome he limiaion. Tuning equaions for he conroller are also given in his secion. Secion 5 shows he simulaion sudies o compare he resuling SMC performance wih ha of he laes PID conroller proposed by Padmasree e al. 2 Secion 6 shows he applicaion of SMC o an unsable bioreacor. Finally he conclusions are presened. * Corresponding auhor: Tel.: ; Fax: address: chidam@ni.edu Basic conceps abou sliding mode conrol The idea behind SMC is o define a surface along which he process can slide o is desired final value. Thus he firs sep in SMC is o define he sliding surface. The seleced in his work 4 is an inegral-differenial equaion acing on he racking error expression. n d e () d (1) d where e() is he racking error, is a uning parameer, which helps o define ; his erm is seleced by he designer, and deermines he performance of he sysem on he sliding surface, n is he sysem order. Once he reference value is reached, eq. (1) indicaes ha a seady sae reaches a consan value. To mainain a his consan value, meaning ha e() has o be zero a all imes, i is desired o make d (2) d Once he sliding surface has been seleced, aenion mus be urned o design he conrol law ha drives he conrolled variable o is reference value and saisfies eq. (2). The SMC conrol law, U() consiss of wo addiive pars; a coninuous par, U C (), and a disconinuous par, U D (): U() =U C () +U D () (3) The coninuous par is given by U C () =f (X(), R()) (4)
2 42 S. SIVARAMAKRISHNAN e al., Sliding Mode Conroller for Unsable Sysems, Chem. Biochem. Eng. Q. 22 (1) (28) Where f (X(), R()) is a funcion of he conrolled variable, and he reference value. The disconinuous par, U D (), incorporaes a nonlinear elemen ha includes he swiching elemen of he conrol law. This par of he conroller is disconinuous across he sliding surface: U D () =K D (5) where K D is a uning parameer responsible for he reaching mode, is a uning parameer used o reduce he chaering problem. Chaering is a high-frequency oscillaion around he desired equilibrium poin. SMC proposed by Rojas e al. Rojas e al. 1 have proposed a mehod for sliding mode conrol for FOPDT open loop unsable processes, whose open loop ransfer funcion is given by K e s p. s1 The conrol law is given by dx() X() U() 1 e () K d Wih K D (6a) de () sign ( K) e () e () 1 d (6b) d By aking we can simplify U C as 1 X() U() e () K K p D (7a) To assure ha he sliding surfaces behave as a criical or overdamped sysem, should be 1 4 (7b) Using he Nelder-Mead opimizaion algorihm, Rojas e al. 1 have seleced he values of K D and by minimizing ISE values and have proposed he following uning equaions for he SMC uning parameers: 2 K P K D = = K P K D 1. ; (7c) (7d) Eq. (7a) will cause problems if = >1, since his will make 1 negaive which resuls in insabiliy on he surface. Exension for from 1 o 1.8 We make he erm 1 negaive, since his will make 1 posiive, which will guaranee sabiliy on he surface. In his work, we make 1 1 and calculae 1 accordingly for various values of. The SMC parameers, namely K D and are esimaed by minimizing ISE using malab leas squares mehod. Up o = 1, he uning formulae given in eqs. (7c) and (7d) are used as he iniial guesses. For > 1, he uning formulae for sable processes given by Camacho and Smih 5 are used as iniial guesses. The converged parameer values are given in Table 1. Fig. 1 shows he variaion of he SMC parameers K D and wih. The values obained for K D and are fied by he following simple equaions as: For <.8: 33. K P K D ; (8a) For.8 1: K P K D (8b) For 1 1.8: K P K D.3531 ; (8c) For 1: K P K D 1. For K P K D 1 For = 14. (9a) (9b) (9c) The maximum error in he fied equaions is less han 1 %.
3 S. SIVARAMAKRISHNAN e al., Sliding Mode Conroller for Unsable Sysems, Chem. Biochem. Eng. Q. 22 (1) (28) 43 Table 1 Values obained for K D and by opimizaion mehod for various values of Sl. No. K D Fig. 1 Variaion of K D and wih. Solid line: Fied value using eqs. 8a,8b,9a,9b,1a,1b. Doed: acual value Simulaion resuls Example 1: Le us consider an unsable FOPDT model wih K p =1, = 1 and =.8. The SMC parameer seings are 1 =.25 min 1, = min 2, K D = , = (Table 1). The PID seings given by Padmasree e al. 2 are K C = , I = , D =.487. The SMC seings for he mehod proposed by Rojas e al. 1 are 1 =.25 min 1, = min 2, K D =.9479, =.784. Fig. 2 shows he comparisons of he servo response of all he hree mehods. The presen mehod is found o be beer han he oher wo. Under perfec parameer condiions, overshoo is lesser for he presen mehod. The robusness of he conroller is evaluaed by perurbing he gain as 1.2 in he process whereas he conroller seings used are for K p = 1. I is found ha he PID conroller 2 and SMC 1 ake a long ime o sele and also show high oscillaions (Fig. 2b). Similar robus performances are also obained for uncerainy in ime consan and ime delay. I is found ha he PID Fig. 2 Comparison of servo responses for unsable sysems: K p =1; =1; =.8 wih PID Conroller,SMC conroller proposed by Rojas e al. 1 Solid Line: Presen Mehod. Doed: PID,Dashed: SMC proposed by Rojas e al. 1 (a) Perfec parameer,(b) Uncerainy of +2 % in K p,(c) Uncerainy of 2 % in,(d) Uncerainy of +2 % in.
4 44 S. SIVARAMAKRISHNAN e al., Sliding Mode Conroller for Unsable Sysems, Chem. Biochem. Eng. Q. 22 (1) (28) Conroller is unable o sabilize he sysem wih respec o uncerainies in ime consan, whereas in he case of ime delay, i has a huge overshoo (Figs. 2c and 2d). The performances under model parameer uncerainy are beer for he presen mehod. Fig. 3 shows he comparison of he manipulaed variables vs. ime for he conrollers. From he plo, i is obvious ha he SMC Conroller oupu of he presen mehod is much smooher han ha of he PID Conroller and he SMC proposed by Rojas e al. 1 which cause highly oscillaory movemen of he conrol valve. Fig. 4 Comparison of servo responses for unsable sysems: K p =1; =1; = 1.2 wih PID Conroller. Solid Line: Presen Mehod. Doed: PID. (a) Perfec parameer,(b) Uncerainy of +5 % in K p,(c) Uncerainy of 2 % in,(d) Uncerainy of +2 % in, Fig. 3 Comparison of manipulaed variables. Legend: Same as in Fig. 2 Example 2: Le us consider an unsable FOPDT model wih K P =1, = 1 and = 1.2. The SMC parameer seings by he presen mehod are 1 = 1/3 min 1, = 1/36 min 2, K D =.2233, = (Table 1). For performance comparison, we use he PID seings given by Padmasree e al. 2 The SMC proposed by Rojas e al. 1 will no work for 1. Hence we compare he presen mehod wih he laes PID conroller proposed by Padmasree e al. 2 The conroller seings given by Padmasree e al. 2 are K C = , I = , D =.687. Fig. 4 shows he servo response for hese seings. Regarding perurbaions, he PID conroller does no sabilize even a 5 % change in K p whereas he presen SMC sabilizes he process. The response is beer han ha of he PID mehod in all he cases as can be seen from he figure. The same holds good for he conroller oupu also as shown in Fig. 5. Example 3: The performance of he proposed mehod is evaluaed on he sysem e 1.4 s /(s 1).We obain he SMC seings for he presen mehod as 1 = 3/14, = 9/784, K D =.1967 and = (Table 1). Since > 1.2, he PID conroller fails o Fig. 5 Comparison of conroller oupus under perfec parameers condiion. Legend: Same as in Fig. 4 sabilize he sysem. Fig. 6 shows he performance of he SMC under perfec parameer condiions and variaions in he process parameers. The performance of he SMC is found o be very good excep for variaion in process gain where i akes a lo of ime o sele. The manipulaed variable vs. ime plo under condiions of perfec parameer is given in Fig. 7. Example 4: Le us consider he process exp(1.7 s)/(s 1) wih a larger ime delay ( = 1.7), which once again canno be sabilized by PID conroller. We obain he SMC seings for he presen mehod as 1 = 3/34 min 1, = 9/4624 min 2, K D =.565, = (Table 1). Fig. 8a shows he response for servo problem under perfec pa-
5 S. SIVARAMAKRISHNAN e al., Sliding Mode Conroller for Unsable Sysems, Chem. Biochem. Eng. Q. 22 (1) (28) 45 Fig. 6 Servo responses for unsable sysems: K p =1; =1; = 1.4 wih SMC Conroller. (a) Solid Line: Perfec parameer,doed: Uncerainy of + 1 % in K p (b) Solid Line: Uncerainy of 1 % in,doed: Uncerainy of +1 % in Fig. 8 Servo responses for unsable sysems: K p =1; =1; = 1.7 wih SMC Conroller. (a) Solid Line: Perfec parameer,doed: (a) Uncerainy of 6 %in,(b) Uncerainy of +5 % in Table 2 characerisics of SMC wih respec o process gain,ime consan and ime delay for various values of Sl. No. in K p /% in /% in /% % 2 % +2 % % 2 % +2 % % 2 % +2 % % 2 % +2 % % 2 % +2 % % 2 % +2 % Fig. 7 Plo of manipulaed variable of SMC vs. ime for K p =1; =1; = 1.4 under perfec parameers condiion rameers. Fig. 8b shows he response when here is an uncerainy of 1 % in he process ime consan. Table 2 gives he robusness characerisics of he SMC wih respec o process parameers separaely in process gain, ime consan and ime delay for various values of. From he Table, i is clear ha up o = 1.2, he presen SMC is robus wih respec o gain, ime consan and delay. However, as increases furher, he robusness wih respec o K P, and o reduces. A = 1.8, he SMC is found o wihsand up o 1 % decrease in and 1 % increase separaely in and K p % 2 % +2 % % 2 % +2 % % 2 % +2 % % 2 % +2 % % 2 % +2 % % 2 % +2 % % 2 % +2 % % 16 % % % 16 % % % 14 % % % % % +5 %
6 46 S. SIVARAMAKRISHNAN e al., Sliding Mode Conroller for Unsable Sysems, Chem. Biochem. Eng. Q. 22 (1) (28) By simulaion, we found ha he value of 1 for he erm 1 gives saisfacory resuls. However, if we decrease he value of 1 o, say.5, we find ha he robusness of he conroller decreases considerably for = 1.4. The reduced robusness characerisics are given in Table 3. If we increase he value of 1 o, say 1.5, we find ha he performance of he resulan conroller is no good; i.e. he conroller has larger overshoo and more seling ime. Hence, a value of 1 is recommended for he erm 1. following unsable ransfer funcion model e 2 s / (99.69 s 1). A measuremen delay of 2 s is considered. For his unsable FOPDT sysem, a SMC is designed based on he uning parameers given in Table 1. The values of he uning parameers are 1 =.4, 2 =.4, K D =.713 and = The PID seings given by Padmasree e al. 2 are K c = 1.616, I = and D = The regulaory responses for hese wo seings for a sep disurbance in Q from.3333 o.3 L s 1 are evaluaed on he nonlinear model eq. (1) and he responses are shown in Fig. 1. The presen mehod gives a beer performance. The regulaory responses for an uncerainy in ime delay are also evaluaed (24 s delay in he process whereas he conroller seings are designed for 2 s delay). The Table 3 characerisics of SMC wih respec o process gain,ime consan and ime delay for values of > 1.4,up o 1.8 when 1=.5 Sl. No. in K p /% in / % in /% % 16 % % % 14 % 1.63 % % 7.65 % % 5 % Applicaion o an unsable bioreacor A SMC is designed and simulaed for an isohermal bioreacor exhibiing muliple seady sae soluions. The resuls are compared wih he laes PID conroller proposed by Padmasree e al. 2 The mahemaical model equaion of he reacor is given by Liou and Chien 6 as dc Q f d V c c kc 1 ( ) ( k c1) 2 2 (1) where Q is he inle flow rae and c f is he feed concenraion. The values of he operaing condiions are given by Q =.3333 L s 1 ; V =1L;k 1 =1s 1 ; and k 2 =1Lmol 1. For he nominal value of c f = mol L 1, he seady sae soluion of he model equaion gives he following wo sable seady saes a c = mol L 1 and.1424 mol L 1. There is one unsable seady sae a c = mol L 1. Feed concenraion is considered as he manipulaed variable. Linearizaion of he model equaion around his operaing condiion c = mol L 1 gives he Fig. 9 Plo of conroller oupu vs. ime for K p =1; =1; = 1.7 under perfec parameers condiion Fig. 1 The regulaory response of nonlinear bioreacor for a sep change in q from.3333 o.3 s 1 for delay = 2 s. solid: SMC (Presen),dash: PID
7 S. SIVARAMAKRISHNAN e al., Sliding Mode Conroller for Unsable Sysems, Chem. Biochem. Eng. Q. 22 (1) (28) 47 Fig. 11 Regulaory response of nonlinear chemical reacor for +2 % uncerainy in ime delay. Legend: as in Fig. 1 Fig. 12 The regulaory response of nonlinear bioreacor for a sep change in q from.3333 o.3233 s 1 for delay = 15 s using SMC responses are shown in Fig. 11. The presen mehod gives robus performance han ha of Padmasree e al. 2 Le us consider he measuremen delay of 15 s so ha he delay ime consan raio () = 1.5. For > 1.2, he PID conroller canno sabilize he sysem. Hence we design a SMC for sabilizing he sysem. The values of he uning parameers are 1 =.9967, =.2484, K D =.15, = The regulaory response for a sep change in he inle flow rae from.3333 o.3233 s 1 is shown in Fig. 12. The regulaory response for a +1 % uncerainy in ime delay is shown in Fig. 13. Conclusions A Sliding Mode Conroller is synhesized for a FOPDT unsable sysem for delay o ime consan raio up o 1.8. Up o = 1.2, he performance of he proposed conroller is found o be more robus han he laes PID conroller proposed by Padmasree e al. 2 For beyond 1.2, here is no mehod available in he lieraure o sabilize unsable sysems using a PID conroller. The robusness of he proposed conroller wih respec o uncerainies in process gain, ime consan and ime delay is found o decrease wih increasing. Simulaion resul on conrol of a nonlinear bioreacor is also given for he case of = 1.5. Nomenclaure K p process gain process ime consan process ime delay delay o ime consan raio Fig. 13 Regulaory response of nonlinear chemical reacor using SMC for +1 % uncerainy in ime delay for delay = 15 s Abbreviaions SMC sliding mode conroller FOPDT firs order plus delay ime ISE inegral of square of error References 1. Rojas, R., Camacho, O., Gonzalez, O. L., ISA Transacions 43 (24) Padmasree, R., Chidambaram, M., Srinivas, M. N., Compuers and Chemical Engineering 28 (24) Sloine, J. J.,Li, W., Applied Nonlinear Conrol, Prenice Hall, New Jersey, Huang,Y. J.,Way, H. K., ISA Transacion 4 (21) Camacho, O., Smih,A., ISA Transacions 39 (2) Liou, C. T., Chien, Y. S., Chem. Eng. Sci. 46 (1991) 2113.
d 1 = c 1 b 2 - b 1 c 2 d 2 = c 1 b 3 - b 1 c 3
and d = c b - b c c d = c b - b c c This process is coninued unil he nh row has been compleed. The complee array of coefficiens is riangular. Noe ha in developing he array an enire row may be divided or
More informationStability and Bifurcation in a Neural Network Model with Two Delays
Inernaional Mahemaical Forum, Vol. 6, 11, no. 35, 175-1731 Sabiliy and Bifurcaion in a Neural Nework Model wih Two Delays GuangPing Hu and XiaoLing Li School of Mahemaics and Physics, Nanjing Universiy
More informationPade and Laguerre Approximations Applied. to the Active Queue Management Model. of Internet Protocol
Applied Mahemaical Sciences, Vol. 7, 013, no. 16, 663-673 HIKARI Ld, www.m-hikari.com hp://dx.doi.org/10.1988/ams.013.39499 Pade and Laguerre Approximaions Applied o he Acive Queue Managemen Model of Inerne
More informationA First Course on Kinetics and Reaction Engineering. Class 19 on Unit 18
A Firs ourse on Kineics and Reacion Engineering lass 19 on Uni 18 Par I - hemical Reacions Par II - hemical Reacion Kineics Where We re Going Par III - hemical Reacion Engineering A. Ideal Reacors B. Perfecly
More informationdi Bernardo, M. (1995). A purely adaptive controller to synchronize and control chaotic systems.
di ernardo, M. (995). A purely adapive conroller o synchronize and conrol chaoic sysems. hps://doi.org/.6/375-96(96)8-x Early version, also known as pre-prin Link o published version (if available):.6/375-96(96)8-x
More informationRevista INGENIERÍA UC ISSN: Universidad de Carabobo Venezuela
Revisa INGENIERÍA UC ISSN: 36-6832 revisaing@uc.edu.ve Universidad de Carabobo Venezuela Cornieles, Erneso; Saad, Maarouf; Areaga, Francisco; Obediene, Luis Sliding mode conrol for mulivariable processes
More informationLAPLACE TRANSFORM AND TRANSFER FUNCTION
CHBE320 LECTURE V LAPLACE TRANSFORM AND TRANSFER FUNCTION Professor Dae Ryook Yang Spring 2018 Dep. of Chemical and Biological Engineering 5-1 Road Map of he Lecure V Laplace Transform and Transfer funcions
More informationOptimal Control of Dc Motor Using Performance Index of Energy
American Journal of Engineering esearch AJE 06 American Journal of Engineering esearch AJE e-issn: 30-0847 p-issn : 30-0936 Volume-5, Issue-, pp-57-6 www.ajer.org esearch Paper Open Access Opimal Conrol
More information(1) (2) Differentiation of (1) and then substitution of (3) leads to. Therefore, we will simply consider the second-order linear system given by (4)
Phase Plane Analysis of Linear Sysems Adaped from Applied Nonlinear Conrol by Sloine and Li The general form of a linear second-order sysem is a c b d From and b bc d a Differeniaion of and hen subsiuion
More informationINVERSE RESPONSE COMPENSATION BY ESTIMATING PARAMETERS OF A PROCESS COMPRISING OF TWO FIRST ORDER SYSTEMS
Inernaional Journal of Informaion Technology and nowledge Managemen July-December 0, Volume 5, No., pp. 433-438 INVERSE RESPONSE COMPENSATION BY ESTIMATING PARAMETERS OF A PROCESS COMPRISING OF TWO FIRST
More informationSub Module 2.6. Measurement of transient temperature
Mechanical Measuremens Prof. S.P.Venkaeshan Sub Module 2.6 Measuremen of ransien emperaure Many processes of engineering relevance involve variaions wih respec o ime. The sysem properies like emperaure,
More informationChapter 8 The Complete Response of RL and RC Circuits
Chaper 8 The Complee Response of RL and RC Circuis Seoul Naional Universiy Deparmen of Elecrical and Compuer Engineering Wha is Firs Order Circuis? Circuis ha conain only one inducor or only one capacior
More informationPerformance Analysis and Comparison of Different Tuning Strategies of PI Controller in Conical Tank
Indian Journal of Science and Technology, Vol 9(11), DOI: 10.17485/ijs/2016/v9i11/89299, March 2016 ISSN (Prin) : 0974-6846 ISSN (Online) : 0974-5645 Performance Analysis and Comparison of Differen Tuning
More informationSome Basic Information about M-S-D Systems
Some Basic Informaion abou M-S-D Sysems 1 Inroducion We wan o give some summary of he facs concerning unforced (homogeneous) and forced (non-homogeneous) models for linear oscillaors governed by second-order,
More informationRecursive Least-Squares Fixed-Interval Smoother Using Covariance Information based on Innovation Approach in Linear Continuous Stochastic Systems
8 Froniers in Signal Processing, Vol. 1, No. 1, July 217 hps://dx.doi.org/1.2266/fsp.217.112 Recursive Leas-Squares Fixed-Inerval Smooher Using Covariance Informaion based on Innovaion Approach in Linear
More informationDead-time Induced Oscillations in Inverter-fed Induction Motor Drives
Dead-ime Induced Oscillaions in Inverer-fed Inducion Moor Drives Anirudh Guha Advisor: Prof G. Narayanan Power Elecronics Group Dep of Elecrical Engineering, Indian Insiue of Science, Bangalore, India
More informationSignal and System (Chapter 3. Continuous-Time Systems)
Signal and Sysem (Chaper 3. Coninuous-Time Sysems) Prof. Kwang-Chun Ho kwangho@hansung.ac.kr Tel: 0-760-453 Fax:0-760-4435 1 Dep. Elecronics and Informaion Eng. 1 Nodes, Branches, Loops A nework wih b
More informationSTATE-SPACE MODELLING. A mass balance across the tank gives:
B. Lennox and N.F. Thornhill, 9, Sae Space Modelling, IChemE Process Managemen and Conrol Subjec Group Newsleer STE-SPACE MODELLING Inroducion: Over he pas decade or so here has been an ever increasing
More informationSliding Mode Extremum Seeking Control for Linear Quadratic Dynamic Game
Sliding Mode Exremum Seeking Conrol for Linear Quadraic Dynamic Game Yaodong Pan and Ümi Özgüner ITS Research Group, AIST Tsukuba Eas Namiki --, Tsukuba-shi,Ibaraki-ken 5-856, Japan e-mail: pan.yaodong@ais.go.jp
More informationF This leads to an unstable mode which is not observable at the output thus cannot be controlled by feeding back.
Lecure 8 Las ime: Semi-free configuraion design This is equivalen o: Noe ns, ener he sysem a he same place. is fixed. We design C (and perhaps B. We mus sabilize if i is given as unsable. Cs ( H( s = +
More informationEmbedded Systems and Software. A Simple Introduction to Embedded Control Systems (PID Control)
Embedded Sysems and Sofware A Simple Inroducion o Embedded Conrol Sysems (PID Conrol) Embedded Sysems and Sofware, ECE:3360. The Universiy of Iowa, 2016 Slide 1 Acknowledgemens The maerial in his lecure
More informationTUNING OF NONLINEAR MODEL PREDICTIVE CONTROL FOR QUADRUPLE TANK PROCESS
h Sepember 14. Vol. 67 No. 5-14 JATIT & LLS. All righs reserved. ISSN: 199-8645 www.jai.org E-ISSN: 1817-3195 TUNING OF NONLINEAR MODEL PREDICTIVE CONTROL FOR QUADRUPLE TANK PROCESS 1 P.SRINIVASARAO, DR.P.SUBBAIAH
More informationECE 2100 Circuit Analysis
ECE 1 Circui Analysis Lesson 35 Chaper 8: Second Order Circuis Daniel M. Liynski, Ph.D. ECE 1 Circui Analysis Lesson 3-34 Chaper 7: Firs Order Circuis (Naural response RC & RL circuis, Singulariy funcions,
More information3.1.3 INTRODUCTION TO DYNAMIC OPTIMIZATION: DISCRETE TIME PROBLEMS. A. The Hamiltonian and First-Order Conditions in a Finite Time Horizon
3..3 INRODUCION O DYNAMIC OPIMIZAION: DISCREE IME PROBLEMS A. he Hamilonian and Firs-Order Condiions in a Finie ime Horizon Define a new funcion, he Hamilonian funcion, H. H he change in he oal value of
More informationModule 4: Time Response of discrete time systems Lecture Note 2
Module 4: Time Response of discree ime sysems Lecure Noe 2 1 Prooype second order sysem The sudy of a second order sysem is imporan because many higher order sysem can be approimaed by a second order model
More informationDifferential Equations
Mah 21 (Fall 29) Differenial Equaions Soluion #3 1. Find he paricular soluion of he following differenial equaion by variaion of parameer (a) y + y = csc (b) 2 y + y y = ln, > Soluion: (a) The corresponding
More informationCHAPTER 6: FIRST-ORDER CIRCUITS
EEE5: CI CUI T THEOY CHAPTE 6: FIST-ODE CICUITS 6. Inroducion This chaper considers L and C circuis. Applying he Kirshoff s law o C and L circuis produces differenial equaions. The differenial equaions
More informationBifurcation Analysis of a Stage-Structured Prey-Predator System with Discrete and Continuous Delays
Applied Mahemaics 4 59-64 hp://dx.doi.org/.46/am..4744 Published Online July (hp://www.scirp.org/ournal/am) Bifurcaion Analysis of a Sage-Srucured Prey-Predaor Sysem wih Discree and Coninuous Delays Shunyi
More informationSimulation-Solving Dynamic Models ABE 5646 Week 2, Spring 2010
Simulaion-Solving Dynamic Models ABE 5646 Week 2, Spring 2010 Week Descripion Reading Maerial 2 Compuer Simulaion of Dynamic Models Finie Difference, coninuous saes, discree ime Simple Mehods Euler Trapezoid
More informationDesign of a control system
SE3 Prof. Davide Manca Poliecnico di Milano Dynamics and Conrol of Chemical Processes Soluion o Lab #3 Design of a conrol sysem Davide Manca Dynamics and Conrol of Chemical Processes Maser Degree in ChemEng
More informationPhysics 235 Chapter 2. Chapter 2 Newtonian Mechanics Single Particle
Chaper 2 Newonian Mechanics Single Paricle In his Chaper we will review wha Newon s laws of mechanics ell us abou he moion of a single paricle. Newon s laws are only valid in suiable reference frames,
More informationProblemas das Aulas Práticas
Mesrado Inegrado em Engenharia Elecroécnica e de Compuadores Conrolo em Espaço de Esados Problemas das Aulas Práicas J. Miranda Lemos Fevereiro de 3 Translaed o English by José Gaspar, 6 J. M. Lemos, IST
More information6.003 Homework #8 Solutions
6.003 Homework #8 Soluions Problems. Fourier Series Deermine he Fourier series coefficiens a k for x () shown below. x ()= x ( + 0) 0 a 0 = 0 a k = e /0 sin(/0) for k 0 a k = π x()e k d = 0 0 π e 0 k d
More informationCHBE320 LECTURE IV MATHEMATICAL MODELING OF CHEMICAL PROCESS. Professor Dae Ryook Yang
CHBE320 LECTURE IV MATHEMATICAL MODELING OF CHEMICAL PROCESS Professor Dae Ryook Yang Spring 208 Dep. of Chemical and Biological Engineering CHBE320 Process Dynamics and Conrol 4- Road Map of he Lecure
More informationMath 333 Problem Set #2 Solution 14 February 2003
Mah 333 Problem Se #2 Soluion 14 February 2003 A1. Solve he iniial value problem dy dx = x2 + e 3x ; 2y 4 y(0) = 1. Soluion: This is separable; we wrie 2y 4 dy = x 2 + e x dx and inegrae o ge The iniial
More information23.2. Representing Periodic Functions by Fourier Series. Introduction. Prerequisites. Learning Outcomes
Represening Periodic Funcions by Fourier Series 3. Inroducion In his Secion we show how a periodic funcion can be expressed as a series of sines and cosines. We begin by obaining some sandard inegrals
More informationChapter 5 Digital PID control algorithm. Hesheng Wang Department of Automation,SJTU 2016,03
Chaper 5 Digial PID conrol algorihm Hesheng Wang Deparmen of Auomaion,SJTU 216,3 Ouline Absrac Quasi-coninuous PID conrol algorihm Improvemen of sandard PID algorihm Choosing parameer of PID regulaor Brief
More information( ) ( ) if t = t. It must satisfy the identity. So, bulkiness of the unit impulse (hyper)function is equal to 1. The defining characteristic is
UNIT IMPULSE RESPONSE, UNIT STEP RESPONSE, STABILITY. Uni impulse funcion (Dirac dela funcion, dela funcion) rigorously defined is no sricly a funcion, bu disribuion (or measure), precise reamen requires
More informationModule 2 F c i k c s la l w a s o s f dif di fusi s o i n
Module Fick s laws of diffusion Fick s laws of diffusion and hin film soluion Adolf Fick (1855) proposed: d J α d d d J (mole/m s) flu (m /s) diffusion coefficien and (mole/m 3 ) concenraion of ions, aoms
More informationR.#W.#Erickson# Department#of#Electrical,#Computer,#and#Energy#Engineering# University#of#Colorado,#Boulder#
.#W.#Erickson# Deparmen#of#Elecrical,#Compuer,#and#Energy#Engineering# Universiy#of#Colorado,#Boulder# Chaper 2 Principles of Seady-Sae Converer Analysis 2.1. Inroducion 2.2. Inducor vol-second balance,
More informationDesigning Information Devices and Systems I Spring 2019 Lecture Notes Note 17
EES 16A Designing Informaion Devices and Sysems I Spring 019 Lecure Noes Noe 17 17.1 apaciive ouchscreen In he las noe, we saw ha a capacior consiss of wo pieces on conducive maerial separaed by a nonconducive
More informationVehicle Arrival Models : Headway
Chaper 12 Vehicle Arrival Models : Headway 12.1 Inroducion Modelling arrival of vehicle a secion of road is an imporan sep in raffic flow modelling. I has imporan applicaion in raffic flow simulaion where
More informationEXERCISES FOR SECTION 1.5
1.5 Exisence and Uniqueness of Soluions 43 20. 1 v c 21. 1 v c 1 2 4 6 8 10 1 2 2 4 6 8 10 Graph of approximae soluion obained using Euler s mehod wih = 0.1. Graph of approximae soluion obained using Euler
More informationPredator - Prey Model Trajectories and the nonlinear conservation law
Predaor - Prey Model Trajecories and he nonlinear conservaion law James K. Peerson Deparmen of Biological Sciences and Deparmen of Mahemaical Sciences Clemson Universiy Ocober 28, 213 Ouline Drawing Trajecories
More informationAnti-Disturbance Control for Multiple Disturbances
Workshop a 3 ACC Ani-Disurbance Conrol for Muliple Disurbances Lei Guo (lguo@buaa.edu.cn) Naional Key Laboraory on Science and Technology on Aircraf Conrol, Beihang Universiy, Beijing, 9, P.R. China. Presened
More informationSolutions for homework 12
y Soluions for homework Secion Nonlinear sysems: The linearizaion of a nonlinear sysem Consider he sysem y y y y y (i) Skech he nullclines Use a disincive marking for each nullcline so hey can be disinguished
More informationdt = C exp (3 ln t 4 ). t 4 W = C exp ( ln(4 t) 3) = C(4 t) 3.
Mah Rahman Exam Review Soluions () Consider he IVP: ( 4)y 3y + 4y = ; y(3) = 0, y (3) =. (a) Please deermine he longes inerval for which he IVP is guaraneed o have a unique soluion. Soluion: The disconinuiies
More informationChapter 7 Response of First-order RL and RC Circuits
Chaper 7 Response of Firs-order RL and RC Circuis 7.- The Naural Response of RL and RC Circuis 7.3 The Sep Response of RL and RC Circuis 7.4 A General Soluion for Sep and Naural Responses 7.5 Sequenial
More informationDynamic Effects of Feedback Control!
Dynamic Effecs of Feedback Conrol! Rober Sengel! Roboics and Inelligen Sysems MAE 345, Princeon Universiy, 2017 Inner, Middle, and Ouer Feedback Conrol Loops Sep Response of Linear, Time- Invarian (LTI)
More informationModal identification of structures from roving input data by means of maximum likelihood estimation of the state space model
Modal idenificaion of srucures from roving inpu daa by means of maximum likelihood esimaion of he sae space model J. Cara, J. Juan, E. Alarcón Absrac The usual way o perform a forced vibraion es is o fix
More information2.160 System Identification, Estimation, and Learning. Lecture Notes No. 8. March 6, 2006
2.160 Sysem Idenificaion, Esimaion, and Learning Lecure Noes No. 8 March 6, 2006 4.9 Eended Kalman Filer In many pracical problems, he process dynamics are nonlinear. w Process Dynamics v y u Model (Linearized)
More information10. State Space Methods
. Sae Space Mehods. Inroducion Sae space modelling was briefly inroduced in chaper. Here more coverage is provided of sae space mehods before some of heir uses in conrol sysem design are covered in he
More informationRobust Learning Control with Application to HVAC Systems
Robus Learning Conrol wih Applicaion o HVAC Sysems Naional Science Foundaion & Projec Invesigaors: Dr. Charles Anderson, CS Dr. Douglas Hile, ME Dr. Peer Young, ECE Mechanical Engineering Compuer Science
More informationAn recursive analytical technique to estimate time dependent physical parameters in the presence of noise processes
WHAT IS A KALMAN FILTER An recursive analyical echnique o esimae ime dependen physical parameers in he presence of noise processes Example of a ime and frequency applicaion: Offse beween wo clocks PREDICTORS,
More informationCHE302 LECTURE IV MATHEMATICAL MODELING OF CHEMICAL PROCESS. Professor Dae Ryook Yang
CHE302 LECTURE IV MATHEMATICAL MODELING OF CHEMICAL PROCESS Professor Dae Ryook Yang Fall 200 Dep. of Chemical and Biological Engineering Korea Universiy CHE302 Process Dynamics and Conrol Korea Universiy
More informationFour Generations of Higher Order Sliding Mode Controllers. L. Fridman Universidad Nacional Autonoma de Mexico Aussois, June, 10th, 2015
Four Generaions of Higher Order Sliding Mode Conrollers L. Fridman Universidad Nacional Auonoma de Mexico Aussois, June, 1h, 215 Ouline 1 Generaion 1:Two Main Conceps of Sliding Mode Conrol 2 Generaion
More informationMath 36. Rumbos Spring Solutions to Assignment #6. 1. Suppose the growth of a population is governed by the differential equation.
Mah 36. Rumbos Spring 1 1 Soluions o Assignmen #6 1. Suppose he growh of a populaion is governed by he differenial equaion where k is a posiive consan. d d = k (a Explain why his model predics ha he populaion
More informationChapter 5: Discontinuous conduction mode. Introduction to Discontinuous Conduction Mode (DCM)
haper 5. The isconinuous onducion Mode 5.. Origin of he disconinuous conducion mode, and mode boundary 5.. Analysis of he conversion raio M(,K) 5.3. Boos converer example 5.4. Summary of resuls and key
More information4. Advanced Stability Theory
Applied Nonlinear Conrol Nguyen an ien - 4 4 Advanced Sabiliy heory he objecive of his chaper is o presen sabiliy analysis for non-auonomous sysems 41 Conceps of Sabiliy for Non-Auonomous Sysems Equilibrium
More informationL07. KALMAN FILTERING FOR NON-LINEAR SYSTEMS. NA568 Mobile Robotics: Methods & Algorithms
L07. KALMAN FILTERING FOR NON-LINEAR SYSTEMS NA568 Mobile Roboics: Mehods & Algorihms Today s Topic Quick review on (Linear) Kalman Filer Kalman Filering for Non-Linear Sysems Exended Kalman Filer (EKF)
More informationChapter 7: Inverse-Response Systems
Chaper 7: Invere-Repone Syem Normal Syem Invere-Repone Syem Baic Sar ou in he wrong direcion End up in he original eady-ae gain value Two or more yem wih differen magniude and cale in parallel Main yem
More informationVariational Iteration Method for Solving System of Fractional Order Ordinary Differential Equations
IOSR Journal of Mahemaics (IOSR-JM) e-issn: 2278-5728, p-issn: 2319-765X. Volume 1, Issue 6 Ver. II (Nov - Dec. 214), PP 48-54 Variaional Ieraion Mehod for Solving Sysem of Fracional Order Ordinary Differenial
More informationIntermediate Differential Equations Review and Basic Ideas
Inermediae Differenial Equaions Review and Basic Ideas John A. Burns Cener for Opimal Design And Conrol Inerdisciplinary Cener forappliedmahemaics Virginia Polyechnic Insiue and Sae Universiy Blacksburg,
More informationModeling the Dynamics of an Ice Tank Carriage
Modeling he Dynamics of an Ice Tank Carriage The challenge: To model he dynamics of an Ice Tank Carriage and idenify a mechanism o alleviae he backlash inheren in he design of he gearbox. Maplesof, a division
More informationDual Current-Mode Control for Single-Switch Two-Output Switching Power Converters
Dual Curren-Mode Conrol for Single-Swich Two-Oupu Swiching Power Converers S. C. Wong, C. K. Tse and K. C. Tang Deparmen of Elecronic and Informaion Engineering Hong Kong Polyechnic Universiy, Hunghom,
More informationThe motions of the celt on a horizontal plane with viscous friction
The h Join Inernaional Conference on Mulibody Sysem Dynamics June 8, 18, Lisboa, Porugal The moions of he cel on a horizonal plane wih viscous fricion Maria A. Munisyna 1 1 Moscow Insiue of Physics and
More informationProblem Set on Differential Equations
Problem Se on Differenial Equaions 1. Solve he following differenial equaions (a) x () = e x (), x () = 3/ 4. (b) x () = e x (), x (1) =. (c) xe () = + (1 x ()) e, x () =.. (An asse marke model). Le p()
More informationA Dynamic Model of Economic Fluctuations
CHAPTER 15 A Dynamic Model of Economic Flucuaions Modified for ECON 2204 by Bob Murphy 2016 Worh Publishers, all righs reserved IN THIS CHAPTER, OU WILL LEARN: how o incorporae dynamics ino he AD-AS model
More informationu(x) = e x 2 y + 2 ) Integrate and solve for x (1 + x)y + y = cos x Answer: Divide both sides by 1 + x and solve for y. y = x y + cos x
. 1 Mah 211 Homework #3 February 2, 2001 2.4.3. y + (2/x)y = (cos x)/x 2 Answer: Compare y + (2/x) y = (cos x)/x 2 wih y = a(x)x + f(x)and noe ha a(x) = 2/x. Consequenly, an inegraing facor is found wih
More informationGeorey E. Hinton. University oftoronto. Technical Report CRG-TR February 22, Abstract
Parameer Esimaion for Linear Dynamical Sysems Zoubin Ghahramani Georey E. Hinon Deparmen of Compuer Science Universiy oftorono 6 King's College Road Torono, Canada M5S A4 Email: zoubin@cs.orono.edu Technical
More informationA DELAY-DEPENDENT STABILITY CRITERIA FOR T-S FUZZY SYSTEM WITH TIME-DELAYS
A DELAY-DEPENDENT STABILITY CRITERIA FOR T-S FUZZY SYSTEM WITH TIME-DELAYS Xinping Guan ;1 Fenglei Li Cailian Chen Insiue of Elecrical Engineering, Yanshan Universiy, Qinhuangdao, 066004, China. Deparmen
More information4.6 One Dimensional Kinematics and Integration
4.6 One Dimensional Kinemaics and Inegraion When he acceleraion a( of an objec is a non-consan funcion of ime, we would like o deermine he ime dependence of he posiion funcion x( and he x -componen of
More informationUnified Control Strategy Covering CCM and DCM for a Synchronous Buck Converter
Unified Conrol Sraegy Covering CCM and DCM for a Synchronous Buck Converer Dirk Hirschmann, Sebasian Richer, Chrisian Dick, Rik W. De Doncker Insiue for Power Elecronics and Elecrical Drives RWTH Aachen
More informationResearch Article Synchronization of the Extended Bonhoffer-Van der Pol Oscillators
Mahemaical Problems in Engineering Volume 212, Aricle ID 96268, 14 pages doi:.11/212/96268 Research Aricle Synchronizaion of he Exended Bonhoffer-Van der Pol Oscillaors Mohamed Zribi and Saleh Alshamali
More informationCONTRIBUTION TO IMPULSIVE EQUATIONS
European Scienific Journal Sepember 214 /SPECIAL/ ediion Vol.3 ISSN: 1857 7881 (Prin) e - ISSN 1857-7431 CONTRIBUTION TO IMPULSIVE EQUATIONS Berrabah Faima Zohra, MA Universiy of sidi bel abbes/ Algeria
More informationA NEW TECHNOLOGY FOR SOLVING DIFFUSION AND HEAT EQUATIONS
THERMAL SCIENCE: Year 7, Vol., No. A, pp. 33-4 33 A NEW TECHNOLOGY FOR SOLVING DIFFUSION AND HEAT EQUATIONS by Xiao-Jun YANG a and Feng GAO a,b * a School of Mechanics and Civil Engineering, China Universiy
More informationOn Oscillation of a Generalized Logistic Equation with Several Delays
Journal of Mahemaical Analysis and Applicaions 253, 389 45 (21) doi:1.16/jmaa.2.714, available online a hp://www.idealibrary.com on On Oscillaion of a Generalized Logisic Equaion wih Several Delays Leonid
More informationOn-line Adaptive Optimal Timing Control of Switched Systems
On-line Adapive Opimal Timing Conrol of Swiched Sysems X.C. Ding, Y. Wardi and M. Egersed Absrac In his paper we consider he problem of opimizing over he swiching imes for a muli-modal dynamic sysem when
More information8. Basic RL and RC Circuits
8. Basic L and C Circuis This chaper deals wih he soluions of he responses of L and C circuis The analysis of C and L circuis leads o a linear differenial equaion This chaper covers he following opics
More informationECE 2100 Circuit Analysis
ECE 1 Circui Analysis Lesson 37 Chaper 8: Second Order Circuis Discuss Exam Daniel M. Liynski, Ph.D. Exam CH 1-4: On Exam 1; Basis for work CH 5: Operaional Amplifiers CH 6: Capaciors and Inducor CH 7-8:
More informationProperties Of Solutions To A Generalized Liénard Equation With Forcing Term
Applied Mahemaics E-Noes, 8(28), 4-44 c ISSN 67-25 Available free a mirror sies of hp://www.mah.nhu.edu.w/ amen/ Properies Of Soluions To A Generalized Liénard Equaion Wih Forcing Term Allan Kroopnick
More informationRobust Control Design for Nonlinear Uncertain Systems with an Unknown Time-Varying Control Direction
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 4, NO. 3, MARCH 1997 393 [7] L. Hsu, Variable srucure model reference adapive conrol using only I/O measuremen: General case, IEEE Trans. Auoma. Conr., vol.
More informationRobust and Learning Control for Complex Systems
Robus and Learning Conrol for Complex Sysems Peer M. Young Sepember 13, 2007 & Talk Ouline Inroducion Robus Conroller Analysis and Design Theory Experimenal Applicaions Overview MIMO Robus HVAC Conrol
More informationLecture 20: Riccati Equations and Least Squares Feedback Control
34-5 LINEAR SYSTEMS Lecure : Riccai Equaions and Leas Squares Feedback Conrol 5.6.4 Sae Feedback via Riccai Equaions A recursive approach in generaing he marix-valued funcion W ( ) equaion for i for he
More informationOrdinary Differential Equations
Ordinary Differenial Equaions 5. Examples of linear differenial equaions and heir applicaions We consider some examples of sysems of linear differenial equaions wih consan coefficiens y = a y +... + a
More informationChapter 2: Principles of steady-state converter analysis
Chaper 2 Principles of Seady-Sae Converer Analysis 2.1. Inroducion 2.2. Inducor vol-second balance, capacior charge balance, and he small ripple approximaion 2.3. Boos converer example 2.4. Cuk converer
More informationCHAPTER 12 DIRECT CURRENT CIRCUITS
CHAPTER 12 DIRECT CURRENT CIUITS DIRECT CURRENT CIUITS 257 12.1 RESISTORS IN SERIES AND IN PARALLEL When wo resisors are conneced ogeher as shown in Figure 12.1 we said ha hey are conneced in series. As
More informationAn open-plus-closed-loop control for chaotic Mathieu-Duffing oscillator
Appl. Mah. Mech. -Engl. Ed. 3(1), 19 7 (9) DOI: 1.17/s183-9-13-z c Shanghai Universiy and Springer-Verlag 9 Applied Mahemaics and Mechanics (English Ediion) An open-plus-closed-loop conrol for chaoic Mahieu-Duffing
More information1 1 + x 2 dx. tan 1 (2) = ] ] x 3. Solution: Recall that the given integral is improper because. x 3. 1 x 3. dx = lim dx.
. Use Simpson s rule wih n 4 o esimae an () +. Soluion: Since we are using 4 seps, 4 Thus we have [ ( ) f() + 4f + f() + 4f 3 [ + 4 4 6 5 + + 4 4 3 + ] 5 [ + 6 6 5 + + 6 3 + ]. 5. Our funcion is f() +.
More informationThe Asymptotic Behavior of Nonoscillatory Solutions of Some Nonlinear Dynamic Equations on Time Scales
Advances in Dynamical Sysems and Applicaions. ISSN 0973-5321 Volume 1 Number 1 (2006, pp. 103 112 c Research India Publicaions hp://www.ripublicaion.com/adsa.hm The Asympoic Behavior of Nonoscillaory Soluions
More informationLab 10: RC, RL, and RLC Circuits
Lab 10: RC, RL, and RLC Circuis In his experimen, we will invesigae he behavior of circuis conaining combinaions of resisors, capaciors, and inducors. We will sudy he way volages and currens change in
More informationAdvanced Organic Chemistry
Lalic, G. Chem 53A Chemisry 53A Advanced Organic Chemisry Lecure noes 1 Kineics: A racical Approach Simple Kineics Scenarios Fiing Experimenal Daa Using Kineics o Deermine he Mechanism Doughery, D. A.,
More informationInternational Journal of Computer Science Trends and Technology (IJCST) Volume 3 Issue 6, Nov-Dec 2015
Inernaional Journal of Compuer Science Trends and Technology (IJCST) Volume Issue 6, Nov-Dec 05 RESEARCH ARTICLE OPEN ACCESS An EPQ Model for Two-Parameer Weibully Deerioraed Iems wih Exponenial Demand
More informationMath Final Exam Solutions
Mah 246 - Final Exam Soluions Friday, July h, 204 () Find explici soluions and give he inerval of definiion o he following iniial value problems (a) ( + 2 )y + 2y = e, y(0) = 0 Soluion: In normal form,
More informationAnalytical Solutions of an Economic Model by the Homotopy Analysis Method
Applied Mahemaical Sciences, Vol., 26, no. 5, 2483-249 HIKARI Ld, www.m-hikari.com hp://dx.doi.org/.2988/ams.26.6688 Analyical Soluions of an Economic Model by he Homoopy Analysis Mehod Jorge Duare ISEL-Engineering
More informationHomework-8(1) P8.3-1, 3, 8, 10, 17, 21, 24, 28,29 P8.4-1, 2, 5
Homework-8() P8.3-, 3, 8, 0, 7, 2, 24, 28,29 P8.4-, 2, 5 Secion 8.3: The Response of a Firs Order Circui o a Consan Inpu P 8.3- The circui shown in Figure P 8.3- is a seady sae before he swich closes a
More informationArticle from. Predictive Analytics and Futurism. July 2016 Issue 13
Aricle from Predicive Analyics and Fuurism July 6 Issue An Inroducion o Incremenal Learning By Qiang Wu and Dave Snell Machine learning provides useful ools for predicive analyics The ypical machine learning
More informationComparative study between two models of a linear oscillating tubular motor
IOSR Journal of Elecrical and Elecronics Engineering (IOSR-JEEE) e-issn: 78-676,p-ISSN: 3-333, Volume 9, Issue Ver. IV (Feb. 4), PP 77-83 Comparaive sudy beween wo models of a linear oscillaing ubular
More informationModified Projective Synchronization of Different Hyperchaotic Systems
ISSN 76-7659, England, UK Journal of Informaion and Compuing Science Vol., No., 009, pp. 033-00 Modified Projecive Synchronizaion of Differen Hyperchaoic Sysems HongLan Zhu, +, XueBing Zhang Huaiyin Insiue
More informationLinear Quadratic Regulator (LQR) - State Feedback Design
Linear Quadrai Regulaor (LQR) - Sae Feedbak Design A sysem is expressed in sae variable form as x = Ax + Bu n m wih x( ) R, u( ) R and he iniial ondiion x() = x A he sabilizaion problem using sae variable
More information