Dynamic emulation using a resistive control input

Rong Zhang, Andrew G. Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Dynamic load emulation using a resistive control input is a key topic of Hardware-In-The-Loop implementation. Three control configurations are available to design a load emulator. When the bandwidth of the reference system is low enough compared to the bandwidth of the actuator, a one degree-of-freedom (DOF) feedback emulator can be successful. When the reference loop has a very large bandwidth compared to the actuator, the one-DOF feedback design yields poor performance with a possible loss of stability. In this case, if accurate plant model parameters or, alternatively, online adaptation is available, a one-DOF feed forward design can secure stability and improve the performance; otherwise, a two-DOF emulator is the choice to utilize both feedback and feed forward signals and to obtain robust stability and robust performance. To emulate the load dynamics, the usage of a resistance as the control input imposes some fundamental limitations to the closed-loop performance. This paper presents the following: (i) Generalization of load emulation problems and control configurations, (ii) Analysis of performance limitations for resistively controlled systems, and (iii) Design examples including simulation and experimental results.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages11
ISBN (Print)0791836290, 9780791836293
StatePublished - 2002
Externally publishedYes

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings

ASJC Scopus subject areas

  • Mechanical Engineering


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