Title :
A model-following control using a robust gain matrix based on the normalized plant
Author :
Shibasaki, Hiroki ; Yusof, Rubiyah ; Ishida, Yoshihisa
Author_Institution :
Graduate School of Science and Technology, Meiji University, Kanagawa, Japan
fDate :
May 31 2015-June 3 2015
Abstract :
This study describes and demonstrates the model-following control using a robust gain matrix based on the normalized plant. The normalized plant is constructed by inserting the matrices for normalizing into the original plant, rendering it independent of the plant parameters. The robust gain matrix also adopts a switching function determined by the linear quadratic regulator (LQR) method. The robust gain matrix is then incorporated into a model-following control and evaluated in simulations of the nominal plant, the plant with a modeling error, and the plant with disturbances. The superior performance of the proposed method is demonstrated in loaded and unloaded DC motor experiments.
Keywords :
DC motors; Load modeling; Mathematical model; Robustness; Switches; Transfer functions; Model-following control; Normalized plant; Robust gain matrix;
Conference_Titel :
Control Conference (ASCC), 2015 10th Asian
Conference_Location :
Kota Kinabalu, Malaysia
DOI :
10.1109/ASCC.2015.7244537