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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F17%3A00314504" target="_blank" >RIV/68407700:21220/17:00314504 - isvavai.cz</a>

  • Alternative codes found

    RIV/68407700:21230/17:00314504 RIV/68407700:21730/17:00314504

  • Result on the web

    <a href="http://dx.doi.org/10.1016/j.ifacol.2017.08.108" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2017.08.108</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1016/j.ifacol.2017.08.108" target="_blank" >10.1016/j.ifacol.2017.08.108</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

  • Original language description

    We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20205 - Automation and control systems

Result continuities

  • Project

    <a href="/en/project/GA16-17398S" target="_blank" >GA16-17398S: Time delay compensators for flexible systems</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2017

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Proceedings of the IFAC 2017 World Congress

  • ISBN

  • ISSN

    2405-8963

  • e-ISSN

    2405-8963

  • Number of pages

    6

  • Pages from-to

    1304-1309

  • Publisher name

    Elsevier

  • Place of publication

    Kidlington Oxford OX GB

  • Event location

    Toulouse

  • Event date

    Jul 9, 2017

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000423845200212