Open AccessBook
Design of Embedded Robust Control Systems Using MATLAB® / Simulink®
Reads0
Chats0
TLDR
This book is to present the theoretical and practical aspects of embedded robust control design and implementation with the aid of MATLAB® and SIMULINK® and covers methods suitable for practical implementations.Abstract:
Robust control theory allows for changes in a system whilst maintaining stability and performance. Applications of this technique are very important for dependable embedded systems, making technologies such as drones and other autonomous systems with sophisticated embedded controllers and systems relatively common-place. The aim of this book is to present the theoretical and practical aspects of embedded robust control design and implementation with the aid of MATLAB® and SIMULINK®. It covers methods suitable for practical implementations, combining knowledge from control system design and computer engineering to describe the entire design cycle. Three extended case studies are developed in depth: embedded control of a tank physical model; robust control of a miniature helicopter; and robust control of two-wheeled robots. These are taken from the area of motion control but the book may be also used by designers in other areas. Some knowledge of Linear Control Theory is assumed and knowledge of C programming is desirable but to make the book accessible to engineers new to the field and to students, the authors avoid complicated mathematical proofs and overwhelming computer architecture technical details. All programs used in the examples and case studies are freely downloadable to help with the assimilation of the book contents.read more
Citations
More filters
Journal ArticleDOI
Advanced Embedded Control of Electrohydraulic Power Steering System
TL;DR: A performed comparative analysis of time and frequency domain properties of control systems shows the better performance of systems based on µ-controllers, but only the system with µ-controller has robust performance against prescribed uncertainties.
Proceedings ArticleDOI
LQR Based Optimal PID Controller Design for Suppression of the Jitter in Laser Beam
Harun Turan,Seref Naci Engin +1 more
TL;DR: In this paper, a model-based controller is designed to suppress the beam jitter using a fast streering mirror and its performance on the real system is demonstrated. But the main factor of the jitter, addressed as as the shift of the center of the laser beam, is taken as atmospheric turbulence.
Proceedings ArticleDOI
Implementation and Tests of an INDI Control Strategy applied to the Parrot Mambo Minidrone
Gilles Delansnay,A. Vande Wouwer +1 more
TL;DR: A flight control scheme based on incremental nonlinear dynamic inversion (INDI) is implemented within the Mathworks Simulink environment dedicated to the Parrot Mambo minidrone, and compared to the original cascade PID control structure.
Proceedings ArticleDOI
Novel Tuning Rules of PD Controller for Industrial Processes
Marko C. Boskovic,Milan R. Rapaić,Tomislav B. Šekara,Milan Ponjavic,Marko Barjaktarovic,Budimir Lutovac +5 more
TL;DR: The paper presents a simple and an efficient design method of Proportional-Derivative (PD) controller, which has been extensively used in industry e.g. to eliminate position error at robotic manipulators and other mechatronic systems.
Proceedings ArticleDOI
Design of H-infinity Tracking Controller for Application in Autonomous Steering of Mobile Machines
TL;DR: New advantages are achieved in terms of precise tracking control and providing a variable steering ratio between the steering wheel and the steering cylinder supported by the designed H∞ controller.
Related Papers (5)
Sequence-based specification of feedback control systems in Simulink®
Jason M. Carter,Jesse H. Poore +1 more