System Identification I

Control Systems Engineering

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Hydraulic Control Systems

Control strategies for crane systems: A comprehensive review

Review of modelling and control of two-wheeled robots

— In this paper, application of Sliding Mode Control (SMC) technique for an Active Magnetic Bearing (AMB) system with varying rotor speed is considered. The gyroscopic effect and mass imbalance inherited in the system is proportional to rotor speed in which this nonlinearity effect causes high system instability as the rotor speed increases. Transformation of the AMB dynamic model into regular system shows that these gyroscopic effect and imbalance lie in the mismatched part of the system. A H 2 -based sliding surface is designed which bound the mismatched parts. The solution of the surface parameter is obtained using Linear Matrix Inequality (LMI). The performance of the controller applied to the AMB model is demonstrated through simulation works under various system conditions. Keywords — Active Magnetic Bearing (AMB), Sliding Mode Control (SMC), Linear Matrix Inequality (LMI), mismatched uncertainty and imbalance. I. I NTRODUCTION LIDING Mode Control (SMC) has received great attention in recent years because of its robustness against uncertainties present in system [1], [2] ,[3] and [4]. SMC is a nonlinear control technique that is applicable to a wide range of dynamic system including the linear, nonlinear, multi-input/multi-output, discrete-time and large scale systems. There are many approaches have been reported and considered in the design process of the sliding-mode control law, such that the system is robust or even insensitive to parametric uncertainties and disturbance. In the practical application of SMC, the controller has also been successfully adapted in many forms and applied in numerous real-world applications such as robot manipulator [5], active suspension system [6], magnetic suspension system and magnetic bearings [7][8]. AMB system however is an advance mechatronic system in which it is open loop unstable and inherent high nonlinearity effect. Thus the system requires feedback gain such that the closed-loop system is stable and able to meet required system

Application of H 2 -based Sliding Mode Control for an Active Magnetic Bearing System

This paper discusses the simulation of network-based control of active car suspension system. The suspension is modelled as of a class of linear and the states of the system are treated as the node to transmit in data in the Controller Area Network (CAN) – based network. The designed PID controller is also connected to the CAN network with additional sending/receiving node. In order to guarantee the timeliness of the messages, a few scheduling approaches namely Fixed Priority, Deadline Monotonic and Earliest Deadline First are tested to schedule the messages. The performance of a quarter car model is observed through a simulation study based on specialised Real-time Truetime Toolbox in Matlab/Simulink. In this work, road disturbance is also introduced to the system so as the ride controller presented by the movement of the wheel and car body can also be accessed as the mean to measure the system performance. The simulations results show that for this class of system, the performance of the system are relatively similar for all the scheduling methods which imply that for dynamic system with less package rate, selection of scheduling algorithm is less critical.

/pdf/simulation-and-real-time-analysis-of-active-suspension-1qxge776r7.pdf

Simulation and Real-time Analysis of Active Suspension System over Controller Area Network

This paper presents a robust control technique to improve tracking performance of an electro-hydraulic actuator system in the existence of uncertainties and unknown disturbances. These variables affect the robustness and tracking performance of the system. Sliding mode control is an effective approach for controlling systems with uncertainties and unmeasurable disturbances. A new control law with adaptive switching gain and modified reaching-law approach is proposed to overcome the existence of the uncertainties and the unknown disturbances. The effectiveness of the proposed controller is validated through simulation results. The results indicate that the proposed technique significantly improves the robustness and the tracking performance of the system. This improvement offers a considerable contribution in the control of positioning applications.

Perfect tracking control of an electro-hydraulic actuator with unknown disturbances

https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/elp2.12035

Computationally efficient predictive torque control for induction motor drives based on flux positional errors and extended Kalman filter

A modular abstraction is presented to implement model predictive control (MPC) on a three phase two level voltage source inverter to control its output current. Traditional ways of coded implementation do not provide insights into the complex nature of MPC; hence a more intuitive, logical and flexible approach for hardware implementation is conceptualized in the form of signal flow graphs (SFGs) for estimation, prediction and optimization. Simulation results show good performance of the approach and easier code generation for real time implementation. RL load is assumed for the inverter and the importance of choosing load inductance and sampling time ratio is emphasized for better control performance.

/pdf/modular-approach-to-implement-model-predictive-control-on-1s295afz30.pdf

Abdul Rashid Husain

Papers

Application of H 2 -based Sliding Mode Control for an Active Magnetic Bearing System

Simulation and Real-time Analysis of Active Suspension System over Controller Area Network

Perfect tracking control of an electro-hydraulic actuator with unknown disturbances

Computationally efficient predictive torque control for induction motor drives based on flux positional errors and extended Kalman filter

Modular approach to implement model predictive control on three phase voltage source inverter