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Degree of Disturbance Rejection Capability for Linear Anti-Stable Systems |
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Haemin Lee, Youngjin Park(KAIST, Republic of Korea) |
| Degree of disturbance rejection capability is a quantitative measure representing how controllable the system is under the presence of persistent disturbance. However, this measure is defined in asymptotically stable systems, not in unstable systems. In this paper, therefore, the way to apply DODR to anti-stable systems is proposed as preliminary research. The definition of the measure is same with existing measure of DODR. We used Gramians of a system which has poles in the mirror image side of the original given system. |
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Improving Control Performance of a Container Crane Using Adaptive Friction Compensation |
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Quoc Chi Nguyen(Ho Chi Minh City University of Technology, Viet Nam), Hoai Quoc Le(Saigon Hi-Tech Park, Viet Nam), Keum-Shik Hong(Pusan National University, Republic of Korea) |
| This paper investigates an adaptive control scheme for container cranes that transport containers between a container ship and trucks. Three unknown parameters (the mechanical friction between the trolley and the guide rails, the mass per unit length of the rope, and the payload mass) are estimated. Since the rope of the crane is flexible, an axially moving string equation is introduced to model the rope dynamics. The Lyapunov method is used to assure the uniform stability of the closed loop system. The experimental results demonstrate the effectiveness of the proposed control scheme. |
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A Robust Finite-time Convergent Multiple Integral Observer against Input Disturbance and Measurement Noise |
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In Hyuk Kim, Young Ik Son(Myongji University, Republic of Korea) |
| This paper deals with the design of a robust finite-time convergent observer for linear systems in the presence of unknown input disturbance and measurement noise. In order to achieve the robust estimation performance and ensure the finite-time convergence, the proposed observer is constructed by combining a multiple integral observer with a hybrid system framework. Computer simulations are carried out to test the performance of the proposed observer against parameter uncertainties and an input disturbance as well as measurement noise. |
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An Adaptive Sliding Mode-Like P-type Iterative Learning Control for Robot Manipulators |
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Yi Long, Zhijiang Du, Weidong Wang(harbin institute of technology, China) |
| The proposed control scheme is based upon the feedback of tracking error and corresponding change rate, which construct a switching surface, with the use of a proportional structure, for which it is called sliding mode-like P-type ILC. In addition, an adaptive item was added to cope with the unknown parameters and disturbances. To verify the proposed control law, a conventional PD ILC and an adaptive PD ILC are added as comparison with all the same setting conditions. We use root mean square error (RSME) each iteration trial as performance evaluation index. |
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Iterative Learning Control Algorithm for a Class of Discrete LTI System with Batch-varying Reference Trajectories |
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Se-Kyu Oh, Jong Min Lee(Seoul National University, Republic of Korea) |
| In this paper, we present adaptive iterative learning control (AILC) schemes for batch-varying reference trajectories. In the general ILC, reference trajectory must be identical for all batches, but reference trajectories can be changed in dynamic systems such as robotics and chemical processes according to cycles or batches. The plant-model mismatch error must vanish to make outputs converge to different references in each batch. For this reason, Markov parameters of the system dynamics are identified at the end of each iteration in an iterative learning manner. ILC schemes for batch-varying |
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A Less Conservative Phaselock Criterion with Linear Matrix Inequality Condition |
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Nur Syazreen Ahmad(Universiti Sains Malaysia (USM), Malaysia) |
| This paper presents a less conservative phaselock condition based on extended Popov criterion where the multiplier is indefinite is presented. The result is formulated in terms of linear matrix inequality which can be easily solved via convex optimization methods. A numerical example with Butterworth filter is provided to show that the result provides a significant improvement for the stability and locking frequency of analog PLLs. |
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