High Precision Feedback Control Design for Dual-Actuator Systems
|
|
- Clifford Freeman
- 5 years ago
- Views:
Transcription
1 Proceeding of the 25 IEEE Conference on Control Alication Toronto, Canada, Augut 28-31, 25 TC1.2 High Preciion Feedback Control Deign for Dual-Actuator Sytem Tielong Shen and Minyue Fu Abtract Dual-actuator control ytem are deigned by iggybacking a mall econdary actuator onto a rimary actuator. Yet the control deign for uch ytem i challenging due to the limited dynamic range of the econdary actuator and it couling with the rimary actuator. In thi aer, we rooe a new control deign aroach for dual-actuator ytem. We firt how that, through a imle coordinate tranformation, a dual-actuator ytem can be earated into two ubytem, one of them controlled only by the rimary actuator, which can be deigned uing conventional method, and the other one involving tracking control uing the econdary actuator. We then devie a witching control trategy for the econdary actuator to achieve high reciion control. Two dual-actuator ytem are ued to demontrate the ue of dual actuator and effectivene of the new deign aroach. I. INTRODUCTION The tructural characteritic of a dual-actuator ytem i that there are two cacaded actuator oerating along a common axi. The rimary actuator, called rimary actuator, i of long range but with oor accuracy and low reone time. The minor actuator, called econdary actuator, i tyically iggybacked onto the rimary actuator and deliver much higher reciion and fater reone but ha a limited dynamic range. A good examle of dual-actuator ytem i the o-called dual-tage hard dik drive ervo ytem which conit of a voice coil motor a the rimary actuator and a iezo-electric tranducer a the econdary actuator [1]-[2]. Other examle include VLSI chi manufacturing machine [3], [4] and high reciion machining tool [5], [6]. Although the mechanical deign of dual-actuator ytem aear to be imle and the functionalitie of each actuator aear to be qualitatively clear, it i a challenging tak to coordinate the two actuator to yield an otimal erformance. The main obtacle i that econdary actuator tyically ha a very limited motion range. A naive deign aroach i to tune the rimary actuator to achieve a rough oitioning or tracking and then to activate the econdary actuator when the rimary actuator reache it teady tate. Thi aroach aear to make ene becaue the econdary actuator doe not have much influence when the tracking error i large; and converely, the econdary actuator hould take over when the rimary actuator ha exhauted it ability to reduce the tracking error. However, uch an aroach i inadequate for at leat two reaon: 1) The overall reone time i tyically exceively long; 2) In many alication the ytem i ubject to diturbance or the tracking reference ignal i Tielong Shen i with the Deartment of Mechanical Engineering, Sohia Univerity, Kioicho 7-1, Chiyoda-ku, Tokyo , Jaan. Minyue Fu i with the School of Electrical Engineering and Comuter Science, The Univerity of Newcatle, Callaghan, NSW 238, Autralia. time-varying, which imlie that the rimary actuator can never be in a teady tate. Many other deign aroache alo exit. For examle, a common deign aroach for dual-tage hard dik drive ytem i to deign two earate control loo, one for each actuator by auming that the interaction between the two control loo i negligible. The two loo can oerate in either erie [7] or arallel [8]. In uch a deign, the rimary and econdary actuator are aigned to control low and frequency reone, reectively. However, it i well known that thi control aroach tyically reult in oor tability erformance due to the couling between the two actuator. Indeed, the mot difficult aect of the dualactuator control deign i to figure out how to coordinate the two actuator in a region where both actuator have ome but limited control authoritie. In thi aer, we rooe a new control deign aroach for dual-actuator ytem. Our reearch tart with an intereting obervation that many dual-actuator ytem can be effectively decouled through a imle coordinate tranformation. The reult of it i that we have two ubytem, a rimary ytem and a econdary ytem behaving a follow. The rimary ytem i aroximately indeendent of the econdary ytem and i urely driven by the rimary actuator. The controller of the rimary ytem can be deigned uing tandard mean, and thu i not of rimary interet. On the other hand, the econdary ytem i controlled by the econdary actuator and the couling from the rimary ytem i only through the reference ignal for oitioning or tracking. Motivated by the obervation above, we then focu on the control deign for the econdary actuator. Modeling the econdary actuator a a aturated controller, thi roblem can be cated a a tracking control roblem with an inut aturation. Exiting deign aroache range from anti-windu comenator [9]-[1] to Riccati equation or linear matrix inequality baed aroache [11]-[13]. In our deign aroach, we chooe to otimize a quadratic erformance function. To get around the difficulty with the inut aturation, we exloit a witching control trategy which alie different control gain when the tate of the ytem lie in different region. Thee region are characterized by neted ellioid with outer ellioid correonding to looer erformance bound and the inner one to tighter bound. A the tracking error converge, the controller gradually witche from low erformance gain to high erformance one. Two deign examle are ued to demontrate our deign aroach. The firt one i a imle two-ma ytem exemlifying a ingleaxi linear-motion dual-actuator ytem. The econd one i a dual-tage ynchronization ytem commonly ued in the micro-manufacturing indutry /5/$2. 25 IEEE 956
2 y r u Dual-Actuator C u Σ Σ z x y Next, we how that the model (1) can be decouled into two ubytem via a imle coordinate tranformation. Thi i motivated by the fact that the rimary ytem tyically ha a much larger ma than the econdary ytem. Let Fig. 2. Fig. 1. BASE Tyical Dual-Actuator Control Sytem u z 1 m y= x c k c k 1 σ[ u ] A two-ma model for Dual-Actuator Sytem (Linear Motion) II. MODELING OF DUAL-ACTUATOR SYSTEMS A dual-actuator ytem can be deicted in Fig. 1, where Σ and Σ denote the rimary and econdary ytem (or ubytem), reectively. The rimary actuator u drive the rimary ytem directly and the econdary actuator u control the econdary ytem but it alo inject a counteraction directly onto the rimary ytem. The tate vector of the two ubytem are denoted by x and z, reectively. The control objective i to deign a uitable controller C uch that the outut y of the econdary ytem track a given reference ignal y r with ome recribed erformance ecification. A dual-actuator ytem with ingle-axi linear motion can be rereented by a two-ma model a hown in Fig. 2. The ma, daming coefficient, ring contant, oition and velocity of the rimary ytem are denoted by m,c, k, z 1 and z 2 reectively. Their counterart for the econdary ytem are denoted by m,c, k, x 1 and x 2, reectively. The outut y equal x 1. In thi model, the rimary ytem i attached to a fixed bae. However, additional dynamic to the bae and the interaction with them can be modeled into the actuating function u. The dynamic equation of the ytem are given a follow: ẋ 1 = x 2 ż 1 = z 2 m ż 2 = u σ[u ] c z 2 k z 1 f(x 1,x 2,z 1,z 2 ) m ẋ 2 = σ[u ] f(x 1,x 2,z 1,z 2 ) (1) where f(x 1,x 2,z 1,z 2 )=c (x 2 z 2 )k (x 1 z 1 l ) rereent the interaction force between two actuator, l > denote the offet ditance between two mae, and σ[ ] i a aturation function defined by σ[u] = a u a (u >a) ( u a) (u < a) m a> (2) z 1 ξ 1 = m x 1 m z 1, z 2 ξ 2 = m m ξ 1 (3) That i, we chooe the ma center ξ 1 and it derivative a a new coordinate for the rimary ytem. It follow that ξ 2 = bu (t) a 2 ξ 2 (t) a 1 ξ 1 (t)ɛ(t) (4) where b =(m m ) 1,a 1 = k m m 1,a 2 = c m m 1 and ɛ(t) =m (k x 1 c x 2 )/(m 2 m m ) decribe the couling force from the motion of the econdary ytem. Due to the fact that m m, we can imly ignore the ɛ(t) term. It follow that the dynamic of the rimary ytem i aroximately decouled from that of the econdary ytem and the deign of u (t) can be done uing any conventional method. On the other hand, if we define e 1 = x 1 y r and e 2 = ė 1 = x 2 ẏ r, then ė 2 = g{σ[u (t)] d(t)} h 2 e 2 (t) h 1 e 1 (t) (5) where g = m 1,h 1 = k m 1,h 2 = c m 1 and d(t) =c (ẏ r z 2 )k [r (z 1 l )] m ÿ r. (6) The model (5) now become the model for the econdary ytem. We oberve that the couling ignal d(t) i dominated by the error between the tate of the rimary actuator (z 1,z 2 ) and the deired tate (y r l, ẏ r ) and the acceleration command m ÿ r. If the error or the acceleration command i large, it i not oible to comletely comenate d(t) by uing u (t). It i only when d(t) i within a mall region (in comarion with a) that the econdary actuator ha ome meaningful control effect. The obervation above mean the following. We can ue the inut of the rimary actuator to drive the ma center uch that the new reference ignal d(t) converge to a mall region a quickly a oible. Prior to uch convergence of d(t), the econdary actuator hould be turned off becaue it doe not have much effect. The control gain of u (t) hould be gradually increaed when d(t) become mall. Thi motivate the idea of a witching control trategy for the econdary actuator, which we dicu in the next two ection. III. CONTROL DESIGN FOR SECONDARY ACTUATOR In thi ection, we focu on the deign roblem for the econdary ytem in a dual-actuator ytem. In view of the dicuion in Section II, we conider the following model: ẋ = Ax b(σ[u] d(t)), x() = x (7) where x IR n i the tate with initial condition x, u IR i the control inut, d(t) IR i a given reference ignal, and A IR n n and b IR n 1 are given. Without lo of generality, we aume that the aturation level i a =1. Roughly eaking, the deign goal i to find a tate feedback control law uch that the tate x i driven from it initial 957
3 tate x() to the origin with a re-ecified erformance cot or le and that the region of uch initial tate i maximal. It i obviou that if d(t) > 1 hold eritently, it i not oible to achieve the deign goal. Therefore, it i neceary for the rimary actuator the bring the teady tate value of d(t) to be within [ 1, 1]. In view of thi, we aume that the control action of the rimary actuator ha been alied rior to t =uch that d(t) d, t for ome d (, 1). Under the aumtion, we can comenate the diturbance by introducing a feed-forward term in u(t) a follow: Then we can rewrite (7) a u(t) =v(t)d(t) (8) ẋ = Ax bσ d [v], x() = x (9) where σ d [ ] i defined a in (2) with a =1 d(t) >. We now conider the following quadratic cot function J(x,v)= {x T Qx rσ 2 d[v]}dt (1) for ome Q = Q T and r > with (A, Q 1 2 ) being detectable, where σ d [v] =σ[u] d(t). We eek to minimize J(x,v) by uing a linear tate feedback v = Kx. If there i no aturation, it i well-known that the otimal olution for v i given by v = r 1 b T P x (11) and the minimum quadratic cot i x T P x, where P = P T > i the olution to the following Riccati equation: A T P P A Q r 1 P bb T P = (12) In the reence of aturation, the otimal v i difficult to comute. To get around thi difficulty, we follow the aroach in [12] by arameterizing the controller by uing a bound on v. More reciely, given, we retrict the v to be uch that v (1 d ) (13) That i, act a an over-aturation bound. It i eay to verify that for any v contrained by (13), σ d [v] lie in the following ector bound a hown in Fig. 3 where δ(v) =σ d [v] 1 v; δ(v) 2 v (14) 1 = 2(1 d ) 2(1 d ), 2 = 2(1 d ) (15) Now, for a given >, conider a Lyaunov function candidate of the form V (x) =x T P x for ome P = P T to be determined and define Ω = A T P P A Q r 1 P bb T P (16) 1 v 2 v σ d [v] (The thick line) 1 v 1 d 1 d(t) 1 v 2 v v 1 d Fig. 3. Sector Bound for σ d [v] It i traightforward to verify that where J(x,v) = lim V (x ) V (x(t )) T V (x ) ( V x T Qx rσ 2 d[v])dt ϕ(x, v, δ(v))dt ϕ(x, v, δ(v)) = x T (A T P P A Q)x rσd 2 [v]2xt P bσ d [v] = x T Ω x r( 1 v δ(v) v ) 2 (17) Thi imlie that if ϕ(x, v, δ(v)) along the trajectory of the ytem (9) with the feedback control, we have J(x,v) V (x ) (18) Uing the analyi above, we formulate the following (relaxed) auxiliary otimal control roblem: For a given, deign P and v to minimize V (x ) ubject to ϕ(x, v, δ(v)) for all x R n and all δ( ) atifying the following ector bound: δ(v) 2 v (19) In addition, determine the larget invariant et of the form X = {x : x T P x µ 2 } (2) uch that for any x X, x(t) X and v(t) 1 d for all t and J(x,v) V (x ). Theorem 1: Conider the ytem in (9), the quadratic cot function in (1) and a given bound on the level of over-aturation. Define = 2 / 1. Suoe the equation A T P P A r 1 (1 2 )P bb T P Q = (21) ha a olution P >. Then the otimal K and the aociated X for the auxiliary otimal control roblem are given by K = 1 1 r 1 b T P (22) µ = 2(1 d ) 2 r (23) b T P b 958
4 Proof: We firt olve min v δ(v) 2 v for a given x IR n. It i traightforward to comute δ(v) 2 v = x T Ω x r{( 1 v v ) ( 1 v v )v 2 2 v2 } where v = r 1 b T P x. We conider two cae: 1) 1 v 2 v v and 2) 1 v 2 v v. For the firt cae, we have δ(v) 2 v = x T Ω x r{( 1 v v ) ( 1 v v )v 2 2v 2 } = x T Ω x r(v v ) 2 The lat te i obtained by uing 1 2 = 1. The minimizing v ubject to 1 v 2 v v i given by v = 1 1 v, then min v: 1v 2 v v δ(v) 2 v = x T Ω x r( 1 1 v v ) 2 = x T Ω x r (v ) 2 = x T Ω x where Ω = A T P P A Q (1 2 )P bb T P. For the econd cae, we have δ(v) 2 v = x T Ω x r{( 1 v v ) ( 1 v v )v 2 2v 2 } = x T Ω x r(( 1 2 )v v ) 2 It follow that min v: 1v 2 v v δ(v) 2 v = x T Ω x r(( 1 2 ) 1 1 v v ) 2 = x T Ω x r (v ) 2 = x T Ω x with the ame otimal v. Hence, we conclude that the otimal v i 1 1 v which i the ame a (22). From the above dicuion, we know that given x and v, δ(v) xt Ω x (x, v) 2 v where (x, v) with (x, 1 1 v )=. Next, we need to minimize x T P x ubject to or equivalently, x T Ω x (x, v) x T Ω x (x, v) We note that the uer bound of Ω increae a (x, v) decreae. Alo, P ha a well-known monotonicity, i.e., it decreae when Ω increae. Hence, the otimal P i obtained by minimizing (x, v) and maximizing Ω, i.e., by etting v a in (22) and Ω =which lead to (21). In order to characterize the invariant et X, all we need to do i to determine the larget µ uch that max Kx = 1 x T P x µ 2 1 r 1 B T P x =1 d (24) Let η = P 1/2 x. Then, max Kx = max r 1 1 x T P x µ 2 1 η µ BT P 1/2 η (25) The otimizing η i given by µ η = P 1/2 B P 1/2 b (26) Subtituting x = P 1/2 η into (24), we obtain (23). Remark 1: If =, the Riccati equation (21) and the control gain (22) recover the reult in (12) and (11) for no aturation. The aociated invariant et i given by X := {x : x T P x µ }, µ = 2(1 d )r 2 (27) b T P b IV. NESTED SWITCHING CONTROL Roughly eaking, a ractical way to avoid or reduce inut aturation i to make the controller gain mall when the tate i large and to increae the gain when the tate i mall. Switching control with a equence of neted control law i motivated by thi baic idea. To do thi, a equence of control law need to be deigned in uch a way that the invariant et are neted. More reciely, we need to find the controller K i,i =, 1,,N uch that the correonding invariant et X i = {x : x T P i x µ 2 i },i =, 1,,N, atify X X 1 X N. Furthermore, we alo demand P <P 1 < <P N o that the quadratic erformance get imroved gradually when the control gain witche from K N to K. The deired neting roertie above can indeed be achieved by uing the deign method in the reviou ection with different value of. Thi i due to the monotonicity of the Riccati equation (21). Indeed, we can rewrite (21) a A T S S A r 1 (1 )S BB T S Q = (28) where S =(1 )P and Q =(1 )Q. Uing S and Q, the invariant et (2) can be exreed a X = {x : x T P x (1 d ) 2 r 2 } (1 )b T S B = {x : x T S x (1 d ) 2 r 2 } (29) b T S B Theorem 2: The olution S to equation (28) i monotonically decreaing in >, i.e., S ε <S ε,if <ε. Conequently, X ha the following neting roerty: Similarly, we have X X ε, < ε (3) P <P ε, < ε (31) Proof: It uffice to etablih the reult above for ufficiently mall ε>. It i eay to verify that = /[2(1 959
5 d )] i monotonically increaing in. Thu, for any ε>, we can write ε 2(1 d ) ε = ε 1 with ome ε 1 >. It follow that the Riccati equation (28) for ε can be rereented a y(t) time[ec] y(t) Fig. 4. Time reone (y(t)[m]) time[ec] A T S ε S ε A r 1 (1 ε 1 )S ε BB T S ε (1 ε 1 )Q = (32) Let E = S S ε. From (28) and (32), we have à T E Eà r 1 (1 ε 1 )EBB T E ε 1 Q ε 1 S BB T S = (33) where à = A r 1 (1 ε 1 )BB T S. From (28), we know that A r 1 (1 )BB T S i Hurwitz. Therefore, A r 1 (1 ε 1 )BB T S i alo Hurwitz when ε 1 (or equivalently, ε) i ufficiently mall. It follow from (33) and the detectability of (A, Q 1/2 ) that E>, i.e. S >S ε. The neting roerty of X then follow from (29). The monotonicity of P i i roved imilarly. Baed-on the neting roerty of the invariant et X, we can aly Theorem 1 to deign a equence of control gain K i (= K i ),i =, 1,,N, for a equence of overaturation bound = < 1 < 2 < < N, and witch the gain to K i whenever x X i (= X i ) but i outide of X i 1 (= X i 1 ). The next reult how the erformance imrovement by uing thi witching control. Theorem 3: Suoe the witching controller above i alied to the ytem in (9) with x X N. Let τ i be the time intance K i i witched on, i =, 1,,N. In articular, τ N =. Then, N 1 J(x,v)=x T P N x x T (τ i ) P i x(τ i ) (34) i= where P k = P i1 P i >, i =, 1,,N 1. Proof: Following the roof of Theorem 1, we have x T Qx rσd 2 [K ix] d { x T P i x } (35) dt along the trajectory of x(t),t [τ i1,τ i ). Integrating the inequality above yield (34). V. DESIGN EXAMPLES A. Single-axi Dual-Stage Poitioning control Recall the dual-tage oitioning ytem in Fig. 2. The control roblem i to drive the outut y to a given command y r. The hyical arameter of the ytem are hown in Table I. The aturation level for the econdary tage i a =.2 and the offet between the two tage i l =.5. Recaling the control inut and the inut matrix a.2u u and.2b B, the ytem can be rewritten a model (1) with the aturation level a =1. Chooe Q and r a [ ] 5 Q =, r =.1 (36) 1 Fig. 5. State trajectorie In order to how the effectivene of the neted witching control trategy, we are mainly intereted in the control deign for the econdary tage. The rimary actuator i imly controlled by a PID controller with the gain k = 5., k I =5, k d =. To deign the econdary tage, we take d =.1 and chooe the over-aturation level to be 4 = 5, 3 = 1, 2 =5, 1 =1and =. Thi lead to the witching feedback control gain K 4 =[ ] K 3 =[ ] K 2 =[ ] (37) K 1 =[ ] K =[ ] The correonding domain of attraction have µ 4 = 1.145,µ 3 =.169,µ 2 =.449,µ 1 =.18 and µ =.51. The correonding Lyaunov matrice for µ 4 and µ, for examle, are given by, reectively, P 4 = [ ],P = [ Simulation reult are hown in Fig. 4-5 (the left lot) which demontrate the te reone to the et-oint command y r =.5. The domain of attraction are alo hown in Fig. 5. To comare the erformance of the rooed witching controller, we alo how the reone (the right lot in Fig. 4-5) when the econdary tage i controlled by a P controller with otimized gain k =.45, k i =, k d =. It i clear from the imulation that the rooed witching controller can drive the outut y to y r much fater than a PID controller. B. Synchronizing control of multi-tage Synchronization of two or more mechanical machine i very imortant when the machine mut cooerate. Steingand-laer canning ytem are tyical machine of thi kind widely ued in the emiconductor manufacturing indutry. ] 96
6 y r Fig. 6. e (Synchr. err) u C PID u PID Primary Stage z Mater-Stage Dual-Stage Secondary Stage Synchronizing control ytem with dual-actuator x y m y TABLE I PHYSICAL PARAMETERS OF THE DUAL-STAGE Ma[kg] Sring[N/m] Damer[N/m] Primary-Stage Secondary-Stage TABLE II PHYSICAL PARAMETERS OF THE STAGES Ma[kg] Sring[N/m] Damer[N/m] Mater-Stage Primary-Stage Secondary-Stage Fig. 6 how a tyical etu of uch a ytem. In thi etu, a wafer i laced on the mater tage (called wafer tage) and a reticle are laced on a lave tage (called reticle tage). The two tage are required to move in ynchrony with high reciion along the ame axi o that the content in the reticle can be exoed to the wafer. In order to achieve the high reciion in ynchronization, a dual-tage i uually ued for the reticle tage. The control of the econdary tage i targeted at tracking the motion of the wafer-tage. The arameter of the ytem ued in the imulation are hown in Table II. For imlicity, the arameter of the dualtage ytem i choen to be the ame a in Examle 1. Conequently, the ame witching controller for Examle 1 i ued here. However, the PID controller for the rimary tage i adjuted to have k = 1,k i =15,k d =to imrove the ynchronizing erformance. Two different command ignal of y r, ram and ine wave, are ued in the imulation. The reone of the mater tage are hown in Fig. 7 (the lot in the to), and the correonding ynchronization error are hown in Fig. 7 (the lot in the middle). To comare the effectivene of the rooed ynchronization aroach where the reticle tage i actuated by the dualtage with the witching controller, we alo how in Fig. 7 (the lat two lot) the ynchronization error when the reticle tage i driven by a ingle actuator, i.e. the econdary tage i fixed on the rimary tage. It i clear from Fig. 7 that the rooed witching controller erform much better. Mater Stage Synchro Error x 1-7 time[ec] x 1-3 time[ec] PI Syn Error time[ec] Mater Stage x 1-5 time[ec] Synchro Error x 1-3 time[ec] Syn Error PI time[ec] Fig. 7. Synchronization with the rooed control and PID control (the mater tage oition y m(t)[m] and the ynchronization error e(t)[m]) VI. CONCLUSIONS For dual-actuator ytem, an effective way to achieve fine control quality i to deign the control trategy with delicate enitivity, due to the rimary and the econdary actuator have different range and different reone roertie. Particulary, the econdary actuator i uually aturated and of mall range. In thi aer, we have hown that a feaible method to thi end i to focu the deign arm on the econdary actuator, ince the control can be decouled by a imle coordinate change. We rooed a neted witching control aroach for the econdary actuator which take the aturation and the interaction from the rimary actuator into account. REFERENCES [1] R. B. Evan et. al., Piezoelectric micro-actuator for dual tage control, IEEE Tran. Magnetic, vol. 35, , [2] S. H. Lee, S. E. Baek and Y. H. Kim, Deign of a dual tage actuator control ytem with dicrite-time liding mode for hard dik drive, IEEE Conf. Deciion and Control, Sydney, , 2. [3] S. Makinouchi, Y. Hayahi and S. Kamiya, New tage ytem for te-and-reead caning teer, Tranaction of The Jaan Society for Preciion Engineering, Vol.61, No.12, , [4] M. Tomizuka, J.-S. Hu, T.-C. Chin and T. Kamano, Synchronization of Two Motion Control Axe Under Adative Feedforward Control, Journal of Dynamic Sytem, Meaurement and Control, Vol.114, No.2, , [5] T. Kamano, T. Suzuki, N. Iuchi and M. Tomizuka, Adative Feedforward Controller for Synchronization of Two Axe Poitioning Sytem, Tranaction of the Society of Intrument and Control Engineer, Vol.29, No.7, , [6] L.-F. Yang and W.-H. Chang, Synchronization of Twin-Gyro Preceion Under Cro-Couled Adative Feedforward Control, Journal of Guidance, Control, and Dynamic, Vol.19, No.3, , [7] S. J. Schhroeck and W. C. Mener, On control deign for time invariant dual-inut ingle-ouut ytem, Proc. American Control Conf., , [8] S. J. Schhroeck, W. C. Mener and R. J. McNab, On comaator deign for linear time invariant dual-inut ingle-ouut ytem, IEEE Tran. Mechatoronic, vol. 5-57, Mar. 21. [9] W. Niu and M. Tomizuka, An anti-windu deign for the aymtotic tracking of linear ytem ubject to actuator aturation, Proc. American Control Conf., Philadehia, , [1] N. Kaoor, A. Teel and P. Daoutidi, An anti-windu deign for linear ytem with inut aturation, Automatica, vol.34, , [11] A. Saberi, Z. Lin and A. R. Teel, Control of linear ytem with aturation actuator, IEEE Tran. Auto. Contr.,, vol.41, , [12] M. Fu, Linear Quadratic Control with Inut Saturation, in Perective in Robut Control, ed.s.o.r.moheimani, Sringer, 21. [13] T. Iwaaki and M. Fu, Regional H 2 erformance ynthei, in Actuator Saturation Control, Ed. V. Kaila and K. M. Grigoriadi, Marcel Dekker, Inc., New York,
Figure 1 Siemens PSSE Web Site
Stability Analyi of Dynamic Sytem. In the lat few lecture we have een how mall ignal Lalace domain model may be contructed of the dynamic erformance of ower ytem. The tability of uch ytem i a matter of
More informationDesign of Two-Channel Low-Delay FIR Filter Banks Using Constrained Optimization
contrained otimization, CIT Journal of Comuting and Information Technology, vol. 8, no 4,. 34 348, 2. Deign of Two-Channel Low-Delay FIR Filter Bank Uing Contrained Otimization Abtract Robert Bregović
More informationImproved Adaptive Time Delay Estimation Algorithm Based on Fourth-order Cumulants
Available online www.jocr.com Journal of hemical and Pharmaceutical Reearch, 016, 8(5):889-894 Reearch Article ISSN : 0975-784 ODEN(USA) : JPR5 Imroved Adative Time Delay Etimation Algorithm Baed on Fourth-order
More informationSystems Analysis. Prof. Cesar de Prada ISA-UVA
Sytem Analyi Prof. Cear de Prada ISAUVA rada@autom.uva.e Aim Learn how to infer the dynamic behaviour of a cloed loo ytem from it model. Learn how to infer the change in the dynamic of a cloed loo ytem
More informationROOT LOCUS. Poles and Zeros
Automatic Control Sytem, 343 Deartment of Mechatronic Engineering, German Jordanian Univerity ROOT LOCUS The Root Locu i the ath of the root of the characteritic equation traced out in the - lane a a ytem
More informationOperational transconductance amplifier based voltage-mode universal filter
Indian Journal of Pure & Alied Phyic ol. 4, etember 005,. 74-79 Oerational tranconductance amlifier baed voltage-mode univeral filter Naeem Ahmad & M R Khan Deartment of Electronic and Communication Engineering,
More informationOVERSHOOT FREE PI CONTROLLER TUNING BASED ON POLE ASSIGNMENT
OVERSHOO FREE PI CONROER UNING BASED ON POE ASSIGNMEN Nevra Bayhan * Mehmet uran Söylemez ** uğba Botan ** e-mail: nevra@itanbul.edu.tr e-mail: oylemez@el.itu.edu.tr e-mail: botan@itu.edu.tr * Itanbul
More informationEnhancement of Robust Tracking Performance via Switching Supervisory Adaptive Control
nhancement of Robut Tracking Performance via Switching Suerviory Adative Control Downloaded from ijeee.iut.ac.ir at 5:43 IRST on Saturday January 5th 9 O. Namaki-Shouhtari* and A. Khaki Sedigh* Abtract:
More informationLecture 10. Erbium-doped fiber amplifier (EDFA) Raman amplifiers Have replaced semiconductor optical amplifiers in the course
ecture 1 Two tye of otical amlifier: Erbium-doed fiber amlifier (EDFA) Raman amlifier Have relaced emiconductor otical amlifier in the coure Fiber Otical Communication ecture 1, Slide 1 Benefit and requirement
More informationRADIATION THERMOMETRY OF METAL IN HIGH TEMPERATURE FURNACE
XVII IMEKO World Congre Metrology in the 3rd Millennium June 22 27, 2003, Dubrovnik, Croatia RADIATION THERMOMETRY OF METAL IN HIGH TEMPERATURE FURNACE Tohru Iuchi, Tohru Furukawa and Nobuharu Sato Deartment
More informationUSE OF INTERNET TO DO EXPERIMENTS IN DYNAMICS AND CONTROL FROM ZACATECAS MEXICO IN THE LABORATORY OF THE UNIVERSITY OF TENNESSEE AT CHATANOOGAA.
USE OF INTERNET TO DO EXPERIMENTS IN DYNAMICS AND CONTROL FROM ZACATECAS MEXICO IN TE LABORATORY OF TE UNIVERSITY OF TENNESSEE AT CATANOOGAA. Jim enry *, Joé Alberto González Guerrero, Benito Serrano Roale..
More informationTrajectory Planning and Feedforward Design for High Performance Motion Systems
Trajectory Planning and Feedforward Deign for High Performance Motion Sytem Paul Lambrecht, Matthij Boerlage, Maarten Steinbuch Faculty of Mechanical Engineering, Control Sytem Technology Group Eindhoven
More information66 Lecture 3 Random Search Tree i unique. Lemma 3. Let X and Y be totally ordered et, and let be a function aigning a ditinct riority in Y to each ele
Lecture 3 Random Search Tree In thi lecture we will decribe a very imle robabilitic data tructure that allow inert, delete, and memberhi tet (among other oeration) in exected logarithmic time. Thee reult
More informationCHEAP CONTROL PERFORMANCE LIMITATIONS OF INPUT CONSTRAINED LINEAR SYSTEMS
Copyright 22 IFAC 5th Triennial World Congre, Barcelona, Spain CHEAP CONTROL PERFORMANCE LIMITATIONS OF INPUT CONSTRAINED LINEAR SYSTEMS Tritan Pérez Graham C. Goodwin Maria M. Serón Department of Electrical
More informationEfficiency Optimal of Inductive Power Transfer System Using the Genetic Algorithms Jikun Zhou *, Rong Zhang, Yi Zhang
International Conference on echanical Science and Engineering (ICSE5 Efficiency Otimal of Inductive Power Tranfer Sytem Uing the Genetic Algorithm Jikun Zhou *, ong Zhang, Yi Zhang Intitute of ytem engineering,
More informationMidterm 3 Review Solutions by CC
Midterm Review Solution by CC Problem Set u (but do not evaluate) the iterated integral to rereent each of the following. (a) The volume of the olid encloed by the arabaloid z x + y and the lane z, x :
More informationReliability Analysis of Embedded System with Different Modes of Failure Emphasizing Reboot Delay
International Journal of Applied Science and Engineering 3., 4: 449-47 Reliability Analyi of Embedded Sytem with Different Mode of Failure Emphaizing Reboot Delay Deepak Kumar* and S. B. Singh Department
More informationUSEFUL TECHNIQUES FOR FIELD ANALYSTS IN THE DESIGN AND OPTIMIZATION OF LINEAR INDUCTION MOTORS
USEFUL TECHNIQUES FOR FIELD ANALYSTS IN THE DESIGN AND OPTIMIZATION OF LINEAR INDUCTION MOTORS By: K.R. Davey R.C. Zowarka Twelfth Biennial IEEE Conference on Electromagnetic Field Comutation (CEFC 006),
More informationA VIBRATION ISOLATION SYSTEM USING STIFFNESS VARIATION CAPABILITY OF ZERO-POWER CONTROL
Proceeding of the International Conference on Mechanical Engineering 009 (ICME009) 6-8 December 009, Dhaka, Bangladeh ICME09-AM-0 A VIBRATION ISOLATION SYSTEM USING STIFFNESS VARIATION CAPABILITY OF ZERO-POWER
More informationEstimating Conditional Mean and Difference Between Conditional Mean and Conditional Median
Etimating Conditional Mean and Difference Between Conditional Mean and Conditional Median Liang Peng Deartment of Ri Management and Inurance Georgia State Univerity and Qiwei Yao Deartment of Statitic,
More informationAnalysis the Transient Process of Wind Power Resources when there are Voltage Sags in Distribution Grid
Analyi the Tranient Proce of Wind Power Reource when there are Voltage Sag in Ditribution Grid Do Nhu Y 1,* 1 Hanoi Univerity of ining and Geology, Deartment of Electrification, Electromechanic Faculty,
More informationROBUST CONTROLLER DESIGN WITH HARD INPUT CONSTRAINTS. TIME DOMAIN APPROACH. Received August 2015; revised November 2015
International Journal of Innovative Computing, Information and Control ICIC International c 2016 ISSN 1349-4198 Volume 12, Number 1, February 2016 pp. 161 170 ROBUST CONTROLLER DESIGN WITH HARD INPUT CONSTRAINTS.
More informationThe Winding Path to RL
Markov Deciion Procee MDP) Ron Parr ComSci 70 Deartment of Comuter Science Duke Univerity With thank to Kri Hauer for ome lide The Winding Path to RL Deciion Theory Decritive theory of otimal behavior
More informationBandwidth expansion of a pressure control system for pneumatic anti-vibration apparatuses in presence of dead time
23456789 Bulletin of the JSME Journal of Advanced Mechanical Deign, Sytem, and Manufacturing Vol.9, No.3, 25 Bandwidth exanion of a reure control ytem for neumatic anti-vibration aaratue in reence of dead
More informationQuestion 1 Equivalent Circuits
MAE 40 inear ircuit Fall 2007 Final Intruction ) Thi exam i open book You may ue whatever written material you chooe, including your cla note and textbook You may ue a hand calculator with no communication
More informationx with A given by (6.2.1). The control ( ) ( )
Homework 5 Sring 9 AerE33 Due 4/(F) SOLUTION PROBLEM (3t) In thi roblem we will invetigate the longitudinal dynamic of the B747 airlane a decribed in Etkin 66 The tate model i x Ax Bu where the tate vector
More informationGain and Phase Margins Based Delay Dependent Stability Analysis of Two- Area LFC System with Communication Delays
Gain and Phae Margin Baed Delay Dependent Stability Analyi of Two- Area LFC Sytem with Communication Delay Şahin Sönmez and Saffet Ayaun Department of Electrical Engineering, Niğde Ömer Halidemir Univerity,
More informationAdministration, Department of Statistics and Econometrics, Sofia, 1113, bul. Tzarigradsko shose 125, bl.3, Bulgaria,
Adanced Studie in Contemorary Mathematic, (006), No, 47-54 DISTRIBUTIONS OF JOINT SAMPLE CORRELATION COEFFICIENTS OF INDEPEENDENT NORMALLY DISTRIBUTED RANDOM VARIABLES Eelina I Velea, Tzetan G Ignato Roue
More informationEvolutionary Algorithms Based Fixed Order Robust Controller Design and Robustness Performance Analysis
Proceeding of 01 4th International Conference on Machine Learning and Computing IPCSIT vol. 5 (01) (01) IACSIT Pre, Singapore Evolutionary Algorithm Baed Fixed Order Robut Controller Deign and Robutne
More informationCHAPTER 8 OBSERVER BASED REDUCED ORDER CONTROLLER DESIGN FOR LARGE SCALE LINEAR DISCRETE-TIME CONTROL SYSTEMS
CHAPTER 8 OBSERVER BASED REDUCED ORDER CONTROLLER DESIGN FOR LARGE SCALE LINEAR DISCRETE-TIME CONTROL SYSTEMS 8.1 INTRODUCTION 8.2 REDUCED ORDER MODEL DESIGN FOR LINEAR DISCRETE-TIME CONTROL SYSTEMS 8.3
More informationActive Disturbance Rejection Control for an Electro-statically Actuated MEMS Device
INTERNATIONAL JOURNAL OF INTELLIGENT CONTROL AND SYSTEMS VOL.6NO.Setember/December 6-69 Active Diturbance Rejection Control for an Electro-tatically Actuated MEMS Device Lili DONG and Jaon EDWARDS Abtract
More informationWhat lies between Δx E, which represents the steam valve, and ΔP M, which is the mechanical power into the synchronous machine?
A 2.0 Introduction In the lat et of note, we developed a model of the peed governing mechanim, which i given below: xˆ K ( Pˆ ˆ) E () In thee note, we want to extend thi model o that it relate the actual
More informationProblem Set 8 Solutions
Deign and Analyi of Algorithm April 29, 2015 Maachuett Intitute of Technology 6.046J/18.410J Prof. Erik Demaine, Srini Devada, and Nancy Lynch Problem Set 8 Solution Problem Set 8 Solution Thi problem
More informationAnalysis of PI controller by model based tuning method in Real Time Level Control of Conical Tank System using block box modeling
International Journal of ChemTech Reearch CODEN (USA): IJCRGG, ISSN: 0974-490, ISSN(Online):455-9555 Vol.11 No.01, 86-99, 018 Analyi of PI controller by model baed tuning method in Real Time Level Control
More informationThe Hassenpflug Matrix Tensor Notation
The Haenpflug Matrix Tenor Notation D.N.J. El Dept of Mech Mechatron Eng Univ of Stellenboch, South Africa e-mail: dnjel@un.ac.za 2009/09/01 Abtract Thi i a ample document to illutrate the typeetting of
More informationECSE 4440 Control System Engineering. Project 1. Controller Design of a Second Order System TA
ECSE 4440 Control Sytem Enineerin Project 1 Controller Dein of a Secon Orer Sytem TA Content 1. Abtract. Introuction 3. Controller Dein for a Sinle Penulum 4. Concluion 1. Abtract The uroe of thi roject
More informationLecture 3. Dispersion and waves in cold plasma. Review and extension of the previous lecture. Basic ideas. Kramers-Kronig relations
Lecture 3 Dierion and wave in cold lama Review and extenion of the reviou lecture Baic idea At the reviou lecture, we dicued how to roerly earch for eigenmode (or quai-eigenmode) of a dierive medium. In
More informationMathematical and Intelligent Modeling of Electropneumatic Servo Actuator Systems
Autralian Journal of Baic and Alied Science, 3(4): 3663-3671, 2009 ISSN 1991-8178 Mathematical and Intelligent Modeling of Electroneumatic Servo Actuator Sytem Hazem I. Ali, Samul Bahari B Mohd Noor, S.M.
More informationLOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM. P.Dickinson, A.T.Shenton
LOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM P.Dickinon, A.T.Shenton Department of Engineering, The Univerity of Liverpool, Liverpool L69 3GH, UK Abtract: Thi paper compare
More informationSimple Observer Based Synchronization of Lorenz System with Parametric Uncertainty
IOSR Journal of Electrical and Electronic Engineering (IOSR-JEEE) ISSN: 78-676Volume, Iue 6 (Nov. - Dec. 0), PP 4-0 Simple Oberver Baed Synchronization of Lorenz Sytem with Parametric Uncertainty Manih
More informationControl Systems. Root locus.
Control Sytem Root locu chibum@eoultech.ac.kr Outline Concet of Root Locu Contructing root locu Control Sytem Root Locu Stability and tranient reone i cloely related with the location of ole in -lane How
More informationControl Systems. Root locus.
Control Sytem Root locu chibum@eoultech.ac.kr Outline Concet of Root Locu Contructing root locu Control Sytem Root Locu Stability and tranient reone i cloely related with the location of ole in -lane How
More informationResearch on DC resistivity for an arbitrarily anisotropic earth using circular scanning measurement
Reearch on DC reitivity for an arbitrarily aniotroic earth uing circular canning meaurement Zhilong Yang* Changchun Yin Xiuyan Ren Changkai Qiu Xiaoyue Cao Jilin Univerity Jilin Univerity Jilin/RMIT Univerity
More informationSERIES COMPENSATION: VOLTAGE COMPENSATION USING DVR (Lectures 41-48)
Chapter 5 SERIES COMPENSATION: VOLTAGE COMPENSATION USING DVR (Lecture 41-48) 5.1 Introduction Power ytem hould enure good quality of electric power upply, which mean voltage and current waveform hould
More informationLecture 8. PID control. Industrial process control ( today) PID control. Insights about PID actions
Lecture 8. PID control. The role of P, I, and D action 2. PID tuning Indutrial proce control (92... today) Feedback control i ued to improve the proce performance: tatic performance: for contant reference,
More informationA PLC BASED MIMO PID CONTROLLER FOR MULTIVARIABLE INDUSTRIAL PROCESSES
ABCM Sympoium Serie in Mechatronic - Vol. 3 - pp.87-96 Copyright c 8 by ABCM A PLC BASE MIMO PI CONOLLE FO MULIVAIABLE INUSIAL POCESSES Joé Maria Galvez, jmgalvez@ufmg.br epartment of Mechanical Engineering
More informationTHE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY STABILIZING CONTROLLERS. Tatsuya Hoshikawa, Kou Yamada and Yuko Tatsumi
International Journal of Innovative Computing, Information Control ICIC International c 206 ISSN 349-498 Volume 2, Number 2, April 206 pp. 357 370 THE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY
More informationHybrid Projective Dislocated Synchronization of Liu Chaotic System Based on Parameters Identification
www.ccenet.org/ma Modern Applied Science Vol. 6, No. ; February Hybrid Projective Dilocated Synchronization of Liu Chaotic Sytem Baed on Parameter Identification Yanfei Chen College of Science, Guilin
More informationSolutions. Digital Control Systems ( ) 120 minutes examination time + 15 minutes reading time at the beginning of the exam
BSc - Sample Examination Digital Control Sytem (5-588-) Prof. L. Guzzella Solution Exam Duration: Number of Quetion: Rating: Permitted aid: minute examination time + 5 minute reading time at the beginning
More informationLecture 21. The Lovasz splitting-off lemma Topics in Combinatorial Optimization April 29th, 2004
18.997 Topic in Combinatorial Optimization April 29th, 2004 Lecture 21 Lecturer: Michel X. Goeman Scribe: Mohammad Mahdian 1 The Lovaz plitting-off lemma Lovaz plitting-off lemma tate the following. Theorem
More informationMath 273 Solutions to Review Problems for Exam 1
Math 7 Solution to Review Problem for Exam True or Fale? Circle ONE anwer for each Hint: For effective tudy, explain why if true and give a counterexample if fale (a) T or F : If a b and b c, then a c
More informationDigital Control System
Digital Control Sytem - A D D A Micro ADC DAC Proceor Correction Element Proce Clock Meaurement A: Analog D: Digital Continuou Controller and Digital Control Rt - c Plant yt Continuou Controller Digital
More informationCHAPTER 4 DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL
98 CHAPTER DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL INTRODUCTION The deign of ytem uing tate pace model for the deign i called a modern control deign and it i
More informationOptimal Assigner Decisions in a Hybrid Predictive Control of an Autonomous Vehicle in Public Traffic
016 American Control Conference (ACC) Boton Marriott Coley Place July 6-8, 016. Boton, MA, USA Otimal Aigner Deciion in a Hybrid Predictive Control of an Autonomou Vehicle in Public raffic Qian Wang 1,
More informationState Space: Observer Design Lecture 11
State Space: Oberver Deign Lecture Advanced Control Sytem Dr Eyad Radwan Dr Eyad Radwan/ACS/ State Space-L Controller deign relie upon acce to the tate variable for feedback through adjutable gain. Thi
More informationNonlinear Single-Particle Dynamics in High Energy Accelerators
Nonlinear Single-Particle Dynamic in High Energy Accelerator Part 6: Canonical Perturbation Theory Nonlinear Single-Particle Dynamic in High Energy Accelerator Thi coure conit of eight lecture: 1. Introduction
More informationControl of Delayed Integrating Processes Using Two Feedback Controllers R MS Approach
Proceeding of the 7th WSEAS International Conference on SYSTEM SCIENCE and SIMULATION in ENGINEERING (ICOSSSE '8) Control of Delayed Integrating Procee Uing Two Feedback Controller R MS Approach LIBOR
More informationMassachusetts Institute of Technology Dynamics and Control II
I E Maachuett Intitute of Technology Department of Mechanical Engineering 2.004 Dynamic and Control II Laboratory Seion 5: Elimination of Steady-State Error Uing Integral Control Action 1 Laboratory Objective:
More informationA Simplified Methodology for the Synthesis of Adaptive Flight Control Systems
A Simplified Methodology for the Synthei of Adaptive Flight Control Sytem J.ROUSHANIAN, F.NADJAFI Department of Mechanical Engineering KNT Univerity of Technology 3Mirdamad St. Tehran IRAN Abtract- A implified
More informationGiven the following circuit with unknown initial capacitor voltage v(0): X(s) Immediately, we know that the transfer function H(s) is
EE 4G Note: Chapter 6 Intructor: Cheung More about ZSR and ZIR. Finding unknown initial condition: Given the following circuit with unknown initial capacitor voltage v0: F v0/ / Input xt 0Ω Output yt -
More information11.5 MAP Estimator MAP avoids this Computational Problem!
.5 MAP timator ecall that the hit-or-mi cot function gave the MAP etimator it maimize the a oteriori PDF Q: Given that the MMS etimator i the mot natural one why would we conider the MAP etimator? A: If
More informationPrice Protection with Consumer s Policy Behavior Beibei LI, Huipo WANG and Yunfu HUO
8 3rd International Conference on Society Science and Economic Develoment (ICSSED 8) ISBN: 978--6595-3- Price Protection with Conumer Policy Behavior Beibei LI, Huio WANG and Yunfu HUO No., Xuefu Street,
More informationS_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS
S_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS by Michelle Gretzinger, Daniel Zyngier and Thoma Marlin INTRODUCTION One of the challenge to the engineer learning proce control i relating theoretical
More informationLecture #5: Introduction to Continuum Mechanics Three-dimensional Rate-independent Plasticity. by Dirk Mohr
Lecture #5: 5-0735: Dynamic behavior of material and tructure Introduction to Continuum Mechanic Three-dimenional Rate-indeendent Platicity by Dirk Mohr ETH Zurich, Deartment of Mechanical and Proce Engineering,
More informationBogoliubov Transformation in Classical Mechanics
Bogoliubov Tranformation in Claical Mechanic Canonical Tranformation Suppoe we have a et of complex canonical variable, {a j }, and would like to conider another et of variable, {b }, b b ({a j }). How
More informationDesign By Emulation (Indirect Method)
Deign By Emulation (Indirect Method he baic trategy here i, that Given a continuou tranfer function, it i required to find the bet dicrete equivalent uch that the ignal produced by paing an input ignal
More informationFeedback Control Systems (FCS)
Feedback Control Sytem (FCS) Lecture19-20 Routh-Herwitz Stability Criterion Dr. Imtiaz Huain email: imtiaz.huain@faculty.muet.edu.pk URL :http://imtiazhuainkalwar.weebly.com/ Stability of Higher Order
More informationSMALL-SIGNAL STABILITY ASSESSMENT OF THE EUROPEAN POWER SYSTEM BASED ON ADVANCED NEURAL NETWORK METHOD
SMALL-SIGNAL STABILITY ASSESSMENT OF THE EUROPEAN POWER SYSTEM BASED ON ADVANCED NEURAL NETWORK METHOD S.P. Teeuwen, I. Erlich U. Bachmann Univerity of Duiburg, Germany Department of Electrical Power Sytem
More informationDESIGN AND ANALYSIS OF FLEXIBLE STRUCTURES WITH PARAMETRIC UNCERTAINTIES FOR ACTIVE VIBRATION CONTROL USING ANSYS
INTERNATIONAL JOURNAL OF R&D IN ENGINEERING, SCIENCE AND MANAGEMENT Vol.1, Iue I, AUG.14 ISSN 9-85X Reearch Paer DESIGN AND ANALYSIS OF FLEXIBLE STRUCTURES WITH PARAMETRIC UNCERTAINTIES FOR ACTIVE VIBRATION
More informationarxiv: v2 [math.nt] 1 Jan 2018
A CONTINUOUS ANALOGUE OF LATTICE PATH ENUMERATION: PART II TANAY WAKHARE AND CHRISTOPHE VIGNAT arxiv:66986v [mathnt] Jan 8 Abtract Following the work of Cano and Díaz, we tudy continuou binomial coefficient
More informationAnalysis of Feedback Control Systems
Colorado Shool of Mine CHEN403 Feedbak Control Sytem Analyi of Feedbak Control Sytem ntrodution to Feedbak Control Sytem 1 Cloed oo Reone 3 Breaking Aart the Problem to Calulate the Overall Tranfer Funtion
More informationCHAPTER 5. The Operational Amplifier 1
EECE22 NETWORK ANALYSIS I Dr. Charle J. Kim Cla Note 9: Oerational Amlifier (OP Am) CHAPTER. The Oerational Amlifier A. INTRODUCTION. The oerational amlifier or o am for hort, i a eratile circuit building
More informationIterative Decoding of Trellis-Constrained Codes inspired by Amplitude Amplification (Preliminary Version)
Iterative Decoding of Trelli-ontrained ode inired by Amlitude Amlification (Preliminary Verion hritian Franck arxiv:190406473v1 [cit] 13 Ar 2019 Abtract We invetigate a novel aroach for the iterative decoding
More informationPOWER SYSTEM SMALL SIGNAL STABILITY ANALYSIS BASED ON TEST SIGNAL
POWE YEM MALL INAL ABILIY ANALYI BAE ON E INAL Zheng Xu, Wei hao, Changchun Zhou Zheang Univerity, Hangzhou, 37 PChina Email: hvdc@ceezueducn Abtract - In thi paper, a method baed on ome tet ignal (et
More informationPractical issues of reverse time migration: true-amplitude gathers, noise removal and harmonic-source encoding
Submiion number: 3784 Practical iue of revere time migration: true-amlitude gather, noie removal and harmonic-ource encoding Yu Zhang, CGGVerita, Houton Jame Sun, CGGVerita, Singaore Summary We analyze
More information7.2 INVERSE TRANSFORMS AND TRANSFORMS OF DERIVATIVES 281
72 INVERSE TRANSFORMS AND TRANSFORMS OF DERIVATIVES 28 and i 2 Show how Euler formula (page 33) can then be ued to deduce the reult a ( a) 2 b 2 {e at co bt} {e at in bt} b ( a) 2 b 2 5 Under what condition
More informationME 375 FINAL EXAM SOLUTIONS Friday December 17, 2004
ME 375 FINAL EXAM SOLUTIONS Friday December 7, 004 Diviion Adam 0:30 / Yao :30 (circle one) Name Intruction () Thi i a cloed book eamination, but you are allowed three 8.5 crib heet. () You have two hour
More informationRoot Locus Diagram. Root loci: The portion of root locus when k assume positive values: that is 0
Objective Root Locu Diagram Upon completion of thi chapter you will be able to: Plot the Root Locu for a given Tranfer Function by varying gain of the ytem, Analye the tability of the ytem from the root
More informationA Sliding Mode Controller Design for Position Synchronization of Dual Spindle Servo Systems
Available online at www.ciencedirect.com Procedia CIRP 1 (2012 ) 250 254 5 th CIRP Conference on High Performance Cutting 2012 A Sliding Mode Controller Deign for Poition Synchronization of Dual Spindle
More informationChapter 9: Controller design. Controller design. Controller design
Chapter 9. Controller Deign 9.. Introduction 9.2. Eect o negative eedback on the network traner unction 9.2.. Feedback reduce the traner unction rom diturbance to the output 9.2.2. Feedback caue the traner
More informationLinear System Fundamentals
Linear Sytem Fundamental MEM 355 Performance Enhancement of Dynamical Sytem Harry G. Kwatny Department of Mechanical Engineering & Mechanic Drexel Univerity Content Sytem Repreentation Stability Concept
More informationSocial Studies 201 Notes for November 14, 2003
1 Social Studie 201 Note for November 14, 2003 Etimation of a mean, mall ample ize Section 8.4, p. 501. When a reearcher ha only a mall ample ize available, the central limit theorem doe not apply to the
More informationA Constraint Propagation Algorithm for Determining the Stability Margin. The paper addresses the stability margin assessment for linear systems
A Contraint Propagation Algorithm for Determining the Stability Margin of Linear Parameter Circuit and Sytem Lubomir Kolev and Simona Filipova-Petrakieva Abtract The paper addree the tability margin aement
More informationc n b n 0. c k 0 x b n < 1 b k b n = 0. } of integers between 0 and b 1 such that x = b k. b k c k c k
1. Exitence Let x (0, 1). Define c k inductively. Suppoe c 1,..., c k 1 are already defined. We let c k be the leat integer uch that x k An eay proof by induction give that and for all k. Therefore c n
More informationControl Systems Analysis and Design by the Root-Locus Method
6 Control Sytem Analyi and Deign by the Root-Locu Method 6 1 INTRODUCTION The baic characteritic of the tranient repone of a cloed-loop ytem i cloely related to the location of the cloed-loop pole. If
More informationskipping section 6.6 / 5.6 (generating permutations and combinations) concludes basic counting in Chapter 6 / 5
kiing ection 6.6 / 5.6 generating ermutation and combination conclude baic counting in Chater 6 / 5 on to Chater 7 / 6: Dicrete robability before we go to trickier counting in Chater 8 / 7 age 431-475
More informationUse of Modal Sensitivity to Operating Conditions for Damping Control in Power Systems
Proceeding of the 44th Hawaii International Conference on Sytem Science - Ue of Modal Senitivity to Operating Condition for Damping Control in Power Sytem Zhenyu Huang ing Zhou Franci Tuffner Daniel Trudnowki
More informationLiang Peng, Qiwei Yao Estimating conditional means with heavy tails
Liang Peng, Qiwei Yao Etimating conditional mean with heavy tail Article (Acceted verion) (Refereed) Original citation: Peng, Liang and Yao, Qiwei (217) Etimating conditional mean with heavy tail. Statitic
More informationFractional-Order PI Speed Control of a Two-Mass Drive System with Elastic Coupling
Fractional-Order PI Speed Control of a Two-Ma Drive Sytem with Elatic Coupling Mohammad Amin Rahimian, Mohammad Saleh Tavazoei, and Farzad Tahami Electrical Engineering Department, Sharif Univerity of
More informationControl Systems Engineering ( Chapter 7. Steady-State Errors ) Prof. Kwang-Chun Ho Tel: Fax:
Control Sytem Engineering ( Chapter 7. Steady-State Error Prof. Kwang-Chun Ho kwangho@hanung.ac.kr Tel: 0-760-453 Fax:0-760-4435 Introduction In thi leon, you will learn the following : How to find the
More informationSingular perturbation theory
Singular perturbation theory Marc R. Rouel June 21, 2004 1 Introduction When we apply the teady-tate approximation (SSA) in chemical kinetic, we typically argue that ome of the intermediate are highly
More informationChapter 13. Root Locus Introduction
Chapter 13 Root Locu 13.1 Introduction In the previou chapter we had a glimpe of controller deign iue through ome imple example. Obviouly when we have higher order ytem, uch imple deign technique will
More informationChapter 5 Consistency, Zero Stability, and the Dahlquist Equivalence Theorem
Chapter 5 Conitency, Zero Stability, and the Dahlquit Equivalence Theorem In Chapter 2 we dicued convergence of numerical method and gave an experimental method for finding the rate of convergence (aka,
More informationDYNAMIC MODELS FOR CONTROLLER DESIGN
DYNAMIC MODELS FOR CONTROLLER DESIGN M.T. Tham (996,999) Dept. of Chemical and Proce Engineering Newcatle upon Tyne, NE 7RU, UK.. INTRODUCTION The problem of deigning a good control ytem i baically that
More informationUSING NONLINEAR CONTROL ALGORITHMS TO IMPROVE THE QUALITY OF SHAKING TABLE TESTS
October 12-17, 28, Beijing, China USING NONLINEAR CONTR ALGORITHMS TO IMPROVE THE QUALITY OF SHAKING TABLE TESTS T.Y. Yang 1 and A. Schellenberg 2 1 Pot Doctoral Scholar, Dept. of Civil and Env. Eng.,
More informationDo Dogs Know Bifurcations?
Do Dog Know Bifurcation? Roland Minton Roanoke College Salem, VA 4153 Timothy J. Penning Hoe College Holland, MI 4943 Elvi burt uon the mathematical cene in May, 003. The econd author article "Do Dog Know
More informationSimulation of Wound Rotor Synchronous Machine under Voltage Sags
Simulation of Wound Rotor Synchronou Machine under oltage Sag D. Aguilar, G. azquez, Student Member, IEEE, A. Rolan, Student Member, IEEE, J. Rocabert, Student Member, IEEE, F. Córcole, Member, IEEE, and
More informationMEM 355 Performance Enhancement of Dynamical Systems Root Locus Analysis
MEM 355 Performance Enhancement of Dynamical Sytem Root Locu Analyi Harry G. Kwatny Department of Mechanical Engineering & Mechanic Drexel Univerity Outline The root locu method wa introduced by Evan in
More informationLecture 6. Erbium-doped fiber amplifier (EDFA) Raman amplifiers Have replaced semiconductor optical amplifiers in the course
Lecture 6 wo tye of otical amlifier: Erbium-doed fiber amlifier (EDFA) Raman amlifier Have relaced emiconductor otical amlifier in the coure Fiber Otical Communication Lecture 6, Slide 1 Benefit and requirement
More informationHomework 12 Solution - AME30315, Spring 2013
Homework 2 Solution - AME335, Spring 23 Problem :[2 pt] The Aerotech AGS 5 i a linear motor driven XY poitioning ytem (ee attached product heet). A friend of mine, through careful experimentation, identified
More information