On robust estimation of the location parameter

Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition): Franklin ... This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems: Gene F. Franklin ... Digital Control of Dynamic Systems, 2nd Edition. Gene F. Franklin, Stanford University. J. David Powell, Stanford University Digital Control of Dynamic Systems, 2nd Edition Pearson This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. MATLAB statements and problems are thoroughly and carefully integrated throughout the book to offer readers a complete design picture. Digital Control of Dynamic Systems, 3rd Edition ... Digital control of dynamic systems | Gene F. Franklin, J. David Powell, Michael L. Workman | download | B–OK. Download books for free. Find books Digital control of dynamic systems | Gene F. Franklin, J ... Abstract This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic... (PDF) Digital Control of Dynamic Systems Digital Control of Dynamic Systems, Addison.pdf There is document Digital Control of Dynamic Systems, Addison.pdfavailable here for reading and downloading. Use the download button below or simple online reader. The file extension PDFand ranks to the Documentscategory. Digital Control of Dynamic Systems, Addison.pdf Download ... Automatic control is the science that develops techniques to steer, guide, control dynamic systems. These systems are built by humans and must perform a specific task. Examples of such dynamic systems are found in biology, physics, robotics, finance, etc. Digital Control means that the control laws are implemented in a digital device, such as a microcontroller or a microprocessor. Introduction to Digital Control of Dynamic Systems And ... The discussions are clear, nomenclature is not hard to follow and there are plenty of worked examples. The book covers discretization effects and design by emulation (i.e. design of continuous-time control system followed by discretization before implementation) which are not to be found on every book on digital control. Amazon.com: Customer reviews: Digital Control of Dynamic ... Find helpful customer reviews and review ratings for Digital Control of Dynamic Systems (3rd Edition) at Amazon.com. Read honest and unbiased product reviews from our users. Amazon.com: Customer reviews: Digital Control of Dynamic ... 1.1.2 Digital control Digital control systems employ a computer as a fundamental component in the controller. The computer typically receives a measurement of the controlled variable, also often receives the reference input, and produces its output using an algorithm. Introduction to Applied Digital Control From the Back Cover This well-respected, marketleading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition) Test Bank `Among the advantages of digital logic for control are the increased flexibility `of the control programs and the decision-making or logic capability of digital `systems, which can be combined with the dynamic control function to meet `other system requirements. `The digital controls studied in this book are for closed-loop (feedback) Every day, eBookDaily adds three new free Kindle books to several different genres, such as Nonfiction, Business & Investing, Mystery & Thriller, Romance, Teens & Young Adult, Children's Books, and others.

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Digital control of dynamic systems

Practical tracking control of linear motor via fractional-order sliding mode

Existing control approaches for the precision motion control of linear motor driven systems are mostly based on rigid-body dynamics of the system. Since all drive systems are subjected to the effect of structural flexible modes of their mechanical parts, the neglected high-frequency dynamics resulting from these structural modes have become the main limiting factor when pushing for better tracking performance and higher closed-loop control bandwidth. In this paper, physical modeling and dynamic analysis that take into account the flexibility of the ball bearings between the stage and the linear guideways are presented with experimental verification. With the gained knowledge of these high-frequency dynamics, a novel $\mu$ -synthesis-based adaptive robust control strategy is subsequently developed. The proposed control algorithm uses adaptive model compensation having accurate online parameter estimation to effectively deal with various nonlinearity effects and to transform the difficult trajectory tracking control problem into a robust stabilization problem. The well-developed $\mu$ -synthesis-based linear robust control technique is then employed in the fast feedback control loop design to explicitly deal with the robust control issue associated with the high-frequency dynamics to achieve higher closed-loop bandwidth for better disturbance rejection. Comparative experiments have been performed and the results show the better tracking performance of the proposed algorithm over existing ones.

$\mu$ -Synthesis-Based Adaptive Robust Control of Linear Motor Driven Stages With High-Frequency Dynamics: A Case Study

Survey on stochastic iterative learning control

In this paper, a new discrete reaching law with improved quasi-sliding-mode domain (QSMD) is proposed and a sliding-mode controller is designed for discrete-time systems with uncertainties. By redefining the change rate as the second-order difference of the system uncertainties and adopting the continuous-approximate function, smaller width of the QSMD can be guaranteed. Moreover, the QSMD of the proposed reaching law is obtained and the system dynamics in and out the QSMD are theoretically analyzed. Perturbation estimation technique is employed to estimate the unknown uncertainties. Thus, no prior knowledge of the uncertainty bound is required. Both numerical simulations and experimental results on a piezoelectric actuator are presented to demonstrate the performance of the proposed method.

Discrete-Time Sliding-Mode Control With Improved Quasi-Sliding-Mode Domain

In this paper, a novel reaching law for discrete-time sliding-mode control is proposed. The reaching law is established based on an exponential term that dynamically adapts to the variation of the switching function. The difference function is also employed to redefine the change rate as the second-order difference of the disturbance. Unlike existing works, the proposed reaching law is able to guarantee smaller width of the quasi-sliding-mode domain (QSMD) while decreasing the reaching time in the same time. The ultimate magnitude of the QSMD in proposed method is of the order O ( T 3). Moreover, the reaching steps for the system to converge to the sliding surface are obtained and the system dynamics in and out the QSMD are theoretically analyzed. Both numerical simulations and experimental investigations on a piezoelectric actuator are employed to validate the effectiveness of the proposed method.

A Novel Exponential Reaching Law of Discrete-Time Sliding-Mode Control

In this paper, effort is devoted to point-to-point motion control for the high-acceleration positioning table driven by linear motors. New performance indices for point-to-point motion are first introduced. Then, a cascaded controller is designed. It consists of an inner loop velocity PI controller and an outer loop position P plus A-type iterative learning controller. In the subsequence, the convergence analysis in both time and frequency domains is given. The control strategy has the property that only the position signal is required in the outer loop. With the common motion profiles, i.e., T-curve and S-curve, and partial knowledge of the system, point-to-point motion experiments are carried out. The maximum acceleration of the motion profile is 0.04 (about 4.07 g), and the maximum velocity is 0.4 mm/ms. Experimental results illustrate that the proposed controller can greatly improve the performance, and the S-curve motion profile has advantages over the T-curve one.

Point-to-Point Motion Control for a High-Acceleration Positioning Table via Cascaded Learning Schemes

This paper investigates the effects of two control algorithms on high-performance point-to-point motions. The emphasis here is to overcome challenges in precision positioning of high-acceleration tables in the presence of significant external disturbances and exited vibration: an A-type of iterative learning control (ILC) (A-ILC) algorithm for repetitive motions and a look-ahead finite impulse response (FIR) filter plus sliding-mode control (SMC) for nonrepetitive motions. The model-free convergence condition and the fastest converging parameter equation for A-ILC are given in the frequency domain. Then, the FIR coefficients are decided through the ILC results and modified to eliminate the friction effect. Experimental studies demonstrate that both the algorithms perform well and the FIR-SMC algorithm is robust in various experimental scenarios which include high acceleration (of 73.7 m/s2 or about 7.5 g), model parameters, and disturbance deviations from the position, velocity, and acceleration at which the ILC (and, hence, FIR) is trained.

High-Acceleration Precision Point-to-Point Motion Control With Look-Ahead Properties

Dynamic model has broad applications in motion planning, feedforward controller design, and disturbance observer design. Particularly, with the increasing application of model-based control in industrial robots, there has been a resurgence of research interest in accurate identification of dynamic models. However, on the one hand, most existing identification methods directly rely on least squares or weighted least squares (WLS), which suffer from outliers and could lead to physical infeasible solutions. On the other hand, nonlinearity of the friction model is seldom treated in a unified way with linear regression. Moreover, recent researches have shown that proper exciting trajectories are crucial to the identification accuracy, but few of previous works take measurement noise into consideration when optimizing the exciting trajectories. In this article, we propose an iterative approach which integrates WLS, iteratively reweighted least squares with linear matrix inequality constraints, and nonlinear friction models so that the above-mentioned issues can be properly solved altogether. Our research also reveals that performance can be improved by including priori knowledge of measurement noise in the optimization of exciting trajectories. The proposed approach is supported by experimental analysis of four different combinations within the framework on a 6-DoF industrial robot.

Jianhua Wu

Papers

Discrete-Time Sliding-Mode Control With Improved Quasi-Sliding-Mode Domain

A Novel Exponential Reaching Law of Discrete-Time Sliding-Mode Control

Point-to-Point Motion Control for a High-Acceleration Positioning Table via Cascaded Learning Schemes

High-Acceleration Precision Point-to-Point Motion Control With Look-Ahead Properties

An Iterative Approach for Accurate Dynamic Model Identification of Industrial Robots