Modelling and robust control of a flexible beam Quanser experiment
In this paper, the robust optimal model matching control design method is applied to a flexible beam Quanser experiment. The neglected nonlinearities of the real experiment in the controller design step lead to important differences between the simulation and experimental results, including vibratio...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Technical University of Kosice
2008-03-01
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| Series: | Acta Montanistica Slovaca |
| Subjects: | |
| Online Access: | http://actamont.tuke.sk/pdf/2008/n1/18popescu.pdf |
| _version_ | 1811314264324964352 |
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| author | Eugen Bobasu Dan Popescu Dorin Sendrescu |
| author_facet | Eugen Bobasu Dan Popescu Dorin Sendrescu |
| author_sort | Eugen Bobasu |
| collection | DOAJ |
| description | In this paper, the robust optimal model matching control design method is applied to a flexible beam Quanser experiment. The neglected nonlinearities of the real experiment in the controller design step lead to important differences between the simulation and experimental results, including vibrations of the real beam and/or stationary errors due to insensibility zone. In order to eliminate these tracking errors and reduce the vibrations of the beam we proposed an improved control law by using some blocks with variable structure. Because some of the model’s parameters are imprecisely known, an identification procedure is needed. The paper presents a subspace identification method, which is a relatively new approach used for the state space model identification. Finally, the performance of the proposed controller is illustrated by some experimental results. |
| first_indexed | 2024-04-13T11:08:42Z |
| format | Article |
| id | doaj.art-38ccdba1c97a4fba910251c9eae08bff |
| institution | Directory Open Access Journal |
| issn | 1335-1788 |
| language | English |
| last_indexed | 2024-04-13T11:08:42Z |
| publishDate | 2008-03-01 |
| publisher | Technical University of Kosice |
| record_format | Article |
| series | Acta Montanistica Slovaca |
| spelling | doaj.art-38ccdba1c97a4fba910251c9eae08bff2022-12-22T02:49:12ZengTechnical University of KosiceActa Montanistica Slovaca1335-17882008-03-01131127135Modelling and robust control of a flexible beam Quanser experimentEugen BobasuDan PopescuDorin SendrescuIn this paper, the robust optimal model matching control design method is applied to a flexible beam Quanser experiment. The neglected nonlinearities of the real experiment in the controller design step lead to important differences between the simulation and experimental results, including vibrations of the real beam and/or stationary errors due to insensibility zone. In order to eliminate these tracking errors and reduce the vibrations of the beam we proposed an improved control law by using some blocks with variable structure. Because some of the model’s parameters are imprecisely known, an identification procedure is needed. The paper presents a subspace identification method, which is a relatively new approach used for the state space model identification. Finally, the performance of the proposed controller is illustrated by some experimental results.http://actamont.tuke.sk/pdf/2008/n1/18popescu.pdfRobust controlmodel matchingflexible beamsubspace based identification |
| spellingShingle | Eugen Bobasu Dan Popescu Dorin Sendrescu Modelling and robust control of a flexible beam Quanser experiment Acta Montanistica Slovaca Robust control model matching flexible beam subspace based identification |
| title | Modelling and robust control of a flexible beam Quanser experiment |
| title_full | Modelling and robust control of a flexible beam Quanser experiment |
| title_fullStr | Modelling and robust control of a flexible beam Quanser experiment |
| title_full_unstemmed | Modelling and robust control of a flexible beam Quanser experiment |
| title_short | Modelling and robust control of a flexible beam Quanser experiment |
| title_sort | modelling and robust control of a flexible beam quanser experiment |
| topic | Robust control model matching flexible beam subspace based identification |
| url | http://actamont.tuke.sk/pdf/2008/n1/18popescu.pdf |
| work_keys_str_mv | AT eugenbobasu modellingandrobustcontrolofaflexiblebeamquanserexperiment AT danpopescu modellingandrobustcontrolofaflexiblebeamquanserexperiment AT dorinsendrescu modellingandrobustcontrolofaflexiblebeamquanserexperiment |