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Uniformly Ultimately Boundedness Stability Condition of Systems with State Delay and Input Backlash |
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wookyong Kwon, Sangchul won(POSTECH, Republic of Korea) |
| In this paper, stability of linear systems with state delay and input backlash is investigated. The uniformly ultimately boundedness stability condition of the given system is constructed in terms of linear matrix inequalities (LMI) form which can be easily solved with off the shelf tool. Sufficient condition for the stability is provided. Numerical examples are stated in accordance with the results. |
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Region of attraction estimation for saturated reset control systems |
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Miguel Angel Davó, Alfonso Baños(University of Murcia, Spain), Jose Carlos Moreno(University of Almería, Spain) |
| In this work, a new technique for the computation of the region of attraction for linear and time invariant systems controlled by a saturated reset control system is presented. The estimation of the region of attraction is based on a polytopic representation. In addition, the information of the solutions is synthesized in a directed graph formed by the polytopes. After presenting several useful conditions on the polytopes, such as positive invariance and convergence to the origin, a procedure is proposed to process the graph and obtain a region of attraction estimation. |
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Observer Based Friction Cancellation in Mechanical Systems |
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Caner Odabaş, Ömer Morgül(Bilkent University, Turkey) |
| An observer based friction compensation for a special time delayed system is presented in this paper. Considering existing delay, an available Coulomb observer is modified and closed loop system is formed by using a Smith predictor based controller as if the process is delay free. Implemented hierarchical feedback system structure provides two-degree of freedom and controls both velocity and position separately. For this purpose, controller parametrization method is used to extend Smith predictor structure to the position control loop for different types of inputs and disturbance attenuation. |
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Nonlinear Adaptive Speed Control for Permanent Magnet Synchronous Motors under the Unbalanced Resistances of PhaseWindings |
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Yoonsik Kim, Donghoon Shin, Chung Choo Chung(Hanyang University, Republic of Korea) |
| In this paper, we propose nonlinear adaptive speed control under three-phase voltage unbalance of permanent magnet synchronous motors. An adaptive control applied in a-b-c frame dynamics is proposed to compensate three-phase voltage unbalance by different values of resistance. At this method can estimate actual resistances. For velocity tracking, it is proven that the tracking error is globally asymptotically stable via Lyapunov theorem. The proposed method is performed to validate via the simulation. |
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Parametric Control of Quasi-linear Systems via State Feedback |
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Guang-Ren Duan(Harbin Institute of Technology, China) |
| A parametric approach is proposed for a type of quasi-linear systems with coefficient matrices containing the state variables and also a time-varying parameter vector. General complete parametrization of a quasi-linear state feedback controller is proposed based on the solution to a type parameter-varying generalized Sylvester matrix equations, which gives a linear closed-loop system with desired eigenstructure. What is more, in such a realization the linear closed-loop system can often be made constant. The approach also provides all the degrees of freedom which may be further utilized. |
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Direct Parametric Approach for Cascaded Systems with Application in Robot Control |
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Guang-Ren Duan(Harbin Institute of Technology, China) |
| A direct parametric approach for a nonlinear system which is the cascaded result of a nonlinear plant in matrix second-order quasi-linear system form with an actuator subsystem described by a first- or second-order model is proposed. A complete general parametrization of a type quasi-linear position-velocity-acceleration feedback controllers is establish for the type of systems, which is very simple, provides all the degrees of design freedom, and, most importantly, results in a linear constant closed-loop system. |
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