Data-based design of high-performance motion controllers
Dragan Kostic,B. de Jager,M Maarten Steinbuch +2 more
- Vol. 1, pp 722-727
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In this article, a data-based design of a linear feedback controller is presented, which realizes desired closed-loop sensitivity and complementary sensitivity transfer functions via a single model-based performance cost.Abstract:
This paper presents a data-based design of a linear feedback controller, which realizes desired closed-loop sensitivity and complementary sensitivity transfer functions. These transfer functions are specified via a single model-based performance cost. The data-based equivalent of this cost is derived, and its utility for the feedback design is demonstrated. A designer can prescribe the controller structure and complexity. Experimental results obtained in a direct-drive robot motion control problem show the quality of the design.read more
Citations
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Data-driven robot motion control design
TL;DR: A submitted manuscript is the version of the article upon submission and before peer-review as discussed by the authors, while a published version is the final layout of the paper including the volume, issue and page numbers.
Unfalsified control : data-driven control design for performance improvement
TL;DR: A submitted manuscript is the author's version of the article upon submission and before peer-review as discussed by the authors, and the final published version features the final layout of the paper including the volume, issue and page numbers.
Proceedings ArticleDOI
Data-based control of motion systems
TL;DR: In this article, two model-free approaches for feedback control design of motion systems are investigated, that exploit the ease of experimentation which is typical for motion systems, and demonstrate the feasibility of the approach for the well-known fourth-order benchmark motion system.
Non-Iterative Data-Driven Model Reference Control
TL;DR: In this paper, a non-iterative data-driven controller tuning approach is proposed to deal with measurement noise in model reference controller-tuning problem, and a constraint that ensures closed-loop stability is derived from stability conditions based on the small gain theorem.
References
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System Identification: Theory for the User
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State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
TL;DR: In this article, simple state-space formulas are derived for all controllers solving the following standard H/sub infinity / problem: for a given number gamma > 0, find all controllers such that the H/ sub infinity / norm of the closed-loop transfer function is (strictly) less than gamma.
Proceedings ArticleDOI
State-space solutions to standard H 2 and H ∞ control problems
TL;DR: In this article, simple state-space formulas are presented for a controller solving a standard H∞-problem, where the controller has the same state-dimension as the plant, its computation involves only two Riccati equations, and it has a separation structure reminiscent of classical LQG theory.
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System Identification: A Frequency Domain Approach
Rik Pintelon,Joannes Schoukens +1 more
TL;DR: Focusing mainly on frequency domain techniques, System Identification: A Frequency Domain Approach, Second Edition also studies in detail the similarities and differences with the classical time domain approach.