Title :
Smart integral control
Author_Institution :
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ
Abstract :
A method of achieving integral action with regard to disturbances and unknown constant parameters is presented. The method is similar to Johnson´s (1974) “disturbance accommodating control” but is structured so that the disturbance correction or parameter estimation function can be designed without affecting the disturbance-free control. Simulation examples illustrate the method for a one-degree of freedom servo with a randomly-varying load disturbance, and for a two-degree of freedom servo with two sources of friction
Keywords :
Jacobian matrices; closed loop systems; dynamics; feedback; parameter estimation; servomechanisms; disturbance accommodating control; disturbance correction; disturbance-free control; integral action; one-degree of freedom servo; parameter estimation function; randomly-varying load disturbance; smart integral control; two-degree of freedom servo; Bandwidth; Eigenvalues and eigenfunctions; Friction; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Servomechanisms; Stability; State feedback; Steady-state;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782380
