Robust Digital Control of Flexible Transmissions Using the Combined Pole Placement/Sensitivity Function Shaping Method

doi:10.1016/S0947-3580(95)70015-2

European Journal of Control

Volume 1, Issue 2, 1995, Pages 122-133

https://doi.org/10.1016/S0947-3580(95)70015-2 Get rights and content

The control of very flexible transmissions in the presence of load variations is a challenging control problem. In this paper it is shown that based on identified discrete time models a robust digital linear controller can be designed using the combined pole placement method with sensitivity function shaping in the frequency domain. This controller provides satisfactory performance for a large range of load variations.

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Digital robust control. The combined pole placement/sensitivity shaping method
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Robust control design using the combined pole placement/sensitivity function shaping method
Proceedings ECC
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There are more references available in the full text version of this article.

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The input sensitivity function reflects both the tolerance with respect to additive uncertainties and the “activity” of the input in the presence of disturbances (high values in certain frequency regions indicate a low model uncertainty tolerance and important stress on the actuator). Techniques for combining nominal performance design with the shaping of the sensitivity functions have been developed and applied in practice for the design of robust digital controllers (Landau, Karimi, Voda-Besançon & Rey, 1995; Landau, Langer, Rey & Barnier, 1996; Langer & Landau, 1999). Therefore, there is a need to develop closed loop identification algorithms that take advantage of the “improved” input spectrum but which are not affected by the noise in the context of feedback.
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The aim of this paper is to synthesise a discretetime H_∞ controller for a flexible transmission system, proposed as a benchmark at the 1995 European Control Conference. A set of design specifications in both time and frequency domains is to be met for the three available plant models. The final H_∞ controller compares favourably with previously proposed controllers: nearly all design specifications are satisfied despite the low complexity of the control law.
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The paper considers issues in iterative identification in closed-loop control design. It is shown that for some classes of plants, a direct approach for identification in closed-loop and robust pole-placement control can give good performances, when the identification and control criterion are matched. This can be explained theoretically, and is illustrated on real-time applications, namely an experimental laboratory set-up (flow control) and an industrial plant at the Heating Company of Grenoble (feed tank pressure regulation).

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^*: Work supported by G.R. Automatique (CNRS). Paper presented at ECC 95, Rome, 5–8 September 1995.

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Robust Digital Control of Flexible Transmissions Using the Combined Pole Placement/Sensitivity Function Shaping Method*

European J Control

Automatica

Digital robust control. The combined pole placement/sensitivity shaping method

Robust control design using the combined pole placement/sensitivity function shaping method

Proceedings ECC