Delay-based input command shapers: frequency properties and finite-dimensional alternatives

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00184722" target="_blank" >RIV/68407700:21230/11:00184722 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Delay-based input command shapers: frequency properties and finite-dimensional alternatives

Popis výsledku v původním jazyce

ZV, ZVD, EI, and other related delay-based input command shapers have been in the center of attention for decades and have given rise to many papers focusing on new more robust and/or optimal additions to the classical Smiths 1950s PosiCast idea. All considerations are nevertheless based almost purely on the time-domain reasoning, accompanied by some simple zero-pole plots. However, these shapers are in fact ordinary LTI systems (linear, time invariant), though infinite-dimensional (w/o finite state space representation, due to presence of delays), and feature interesting frequency notch-filter-like behaviour. The paper is devoted to presentation and discussion of the shapers' frequency responses, and to suggestions for finite dimensional (read: low order rational-transfer-function) alternatives, with implications towards practical implementation and feedback interconnections with input shapers. Performance of such filters is then assesed by means of a case study.

Název v anglickém jazyce

Delay-based input command shapers: frequency properties and finite-dimensional alternatives

Popis výsledku anglicky

ZV, ZVD, EI, and other related delay-based input command shapers have been in the center of attention for decades and have given rise to many papers focusing on new more robust and/or optimal additions to the classical Smiths 1950s PosiCast idea. All considerations are nevertheless based almost purely on the time-domain reasoning, accompanied by some simple zero-pole plots. However, these shapers are in fact ordinary LTI systems (linear, time invariant), though infinite-dimensional (w/o finite state space representation, due to presence of delays), and feature interesting frequency notch-filter-like behaviour. The paper is devoted to presentation and discussion of the shapers' frequency responses, and to suggestions for finite dimensional (read: low order rational-transfer-function) alternatives, with implications towards practical implementation and feedback interconnections with input shapers. Performance of such filters is then assesed by means of a case study.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2011

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 18th IFAC World Congress, 2011

ISBN

978-3-902661-93-7

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

7565-7570

Název nakladatele

IFAC

Místo vydání

Bologna

Místo konání akce

Milano

Datum konání akce

28. 8. 2011

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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