TY - GEN
T1 - Controller design for two-input single-output systems exploiting plant/controller alignment
AU - Weir, Nathan A.
AU - Alleyne, Andrew G.
N1 - Funding Information:
This research is supported by Sandia National Laboratories. Sandia is a multi-mission laboratory managed and operated by National Technology and Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International, Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA-0003525.
Publisher Copyright:
Copyright © 2018 ASME.
PY - 2018
Y1 - 2018
N2 - Due to the unique structure of TISO feedback systems, several closed loop properties can be characterized using the concepts of plant and controller directions and alignment . Poor plant/controller alignment indicates significant limitations in terms of closed loop performance. In general, it is desirable to design a controller that is well aligned with the plant in order to minimize the size of the closed loop sensitivity functions and closed loop interactions. Although the concept of alignment can be a useful analysis tool for a given plant/controller pair, it is not obvious how a controller should be designed to achieve good alignment. We present a new controller design approach, based on the well-known PQ method , which explicitly incorporates knowledge of alignment into the design process. This is accomplished by providing graphical information about the alignment angle on the Bode plot of the PQ frequency response. We show the utility of this approach through a design example.
AB - Due to the unique structure of TISO feedback systems, several closed loop properties can be characterized using the concepts of plant and controller directions and alignment . Poor plant/controller alignment indicates significant limitations in terms of closed loop performance. In general, it is desirable to design a controller that is well aligned with the plant in order to minimize the size of the closed loop sensitivity functions and closed loop interactions. Although the concept of alignment can be a useful analysis tool for a given plant/controller pair, it is not obvious how a controller should be designed to achieve good alignment. We present a new controller design approach, based on the well-known PQ method , which explicitly incorporates knowledge of alignment into the design process. This is accomplished by providing graphical information about the alignment angle on the Bode plot of the PQ frequency response. We show the utility of this approach through a design example.
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U2 - 10.1115/DSCC2018-9182
DO - 10.1115/DSCC2018-9182
M3 - Conference contribution
AN - SCOPUS:85057341895
T3 - ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
BT - Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Y2 - 30 September 2018 through 3 October 2018
ER -