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IIT Jodhpur

An algorithm for ideal sliding mode control of low inertia motor is discussed. The algorithm has been successfully tested through simulation as well as practical implementation.

World University root node

Department of Electrical Engineering

Proceedings of the American Control Conference

One switching sliding mode position control of printed circuit DC motor

This paper presents a mew algorithm for variable structure control systems. In the proposed algorithm a VEViable strnctnre controller for low moment of inertia systems has been discnssed. The concept nses the position and velocity loop independently at different instants of time. Switching from position loop to velocity loop generates sliding mode motion. The proposed method requires only one switching. Chattering is totally absent. The algorithm has been tested successfully in printed circuit DC motor throngh computer simulation aa well as practical implementation. The practical controller is a hybrid one where adog, digital and au IBM PC has been used to verify the concept. © 1992 by IEEE Singapore Section.

Singapore International Conference on Intelligent Control and Instrumentation - Proceedings

A smooth variable structure position control of PCB motor

Variable structure control using sliding mode technique has been widely used for different electrical motors in position loop. Its advantages are insensitivity to parametric variations and ability to reject disturbances like sudden load applied to the motor shaft. However, for a low inertia systems it exibibits more chattering. In this paper, a sliding mode controller for a very low inertia system (Printed circuit motor) is proposed. A new chattering reduction technique is also proposed here. Controller structure is a hybrid one where analog circuit has been reduced to a minimum level. Computer simulation as well as experimented results are presented to verify the chattering reduction technique. © 1991 IEEE.

IEEE Region 10 Annual International Conference, Proceedings/TENCON

A smooth variable structure position control of dc motor

Robust state feedback stabilization of a structured uncert ain system problem is discussed here. Existence of such a Robust state feedback and its uniqueness in the sense of some error norm minimization are presented in this paper. A new proof is given to show the existence of Robust state feedback gain for a given structured uncertain system. Algorithm for the selection of best state feedback gain from all stabilizing state feedback gain is also proposed in this paper. © 1991 IEEE.

Robust state feedback control for structured uncertain system

An algorithm for a model-order reduction method based on impulse/step response error minimization is presented. The denominator of the reduced model is selected by either the Routh method or the retention of the desired poles of the higher order system. The numerator of the reduced model is obtained by minimizing the impulse/step response error along with a steady-state constraint. It is shown that this minimization problem finally leads to a problem of solving linear algebraic equations to obtain the numerator of the model.

Proceedings - IEEE International Symposium on Circuits and Systems

A new algorithm for model reduction by impulse/step error minimisation

A unification of the time- and frequency-domain Pade approximation -method for multivariable systems is presented here. It has been shown in this letter that both time- and frequency-domain approximation methods for multivariable systems lead to partial Pade approximation. Full Pade exists only in the case of scalar systems. © 1989 IEEE

IEEE Transactions on Circuits and Systems

On Pade Approximation for Multivariable Systems

A method of reduction of system order is introduced, in which a lower-order transfer function/transfer matrix is obtained by minimizing an error function constructed from the time responses of the system and the reduced model. The denominator of the reduced model can be selected either by retaining dominant poles or by the Routh method. The numerator of the reduced model is obtained by minimizing the step response error along with a steady-state constraint. The error function is converted into the frequency domain and the minima operation is carried out in this domain. Since the numerator polynomial selection is independent of the denominator, the method is very general and can be applied for MIMO systems as well as for SISO systems. A numerical example of a multivariable system illustrates the procedure. © 1988 Taylor & Francis Group, LLC.

International Journal of Systems Science

New reduction technique by step error minimization for multivariable systems

A method of reduction for a discrete system is presented. The denominator of the reduced model is directly obtained in z-domain from the denominator of the higher-order system. The denominator of the reduced model is directly obtained from a Routh-type table. The numerator of the reduced model is obtained either by matching the discrete time moments or by minimizing the step response error constructed in discrete time domain and computed in z-domain. The stability of the reduced model is guaranteed if the higher-order system is stable. A numerical example is examined which involves the determination of a second-order reduced model for a fourth-order digital filter.

Routh type approximation for discrete system

This paper presents the time-domain Pade approximation and modal-Pade method for single and multivariable systems. In the first part of the paper, Pade equations are derived for SISO and MIMO systems by assuming a state-space description of the higher order system and its reduced order model. For a SISO system, it is shown that these Pade equations are the same as the Pade equations obtained by a frequency-domain procedure. However, for a multivariable system, it is shown that, although a full Pade approximation exists in the frequency domain, the time-domain procedure leads only to a partial Pade approximation. In the next part, the time-domain modal-Pade method for SISO and MIMO systems is proposed. A relationship between the state vectors of the system and the model is derived for the modal-Pade reduction procedure and is referred to as an “exact aggregation matrix.”. © 1987 IEEE

Time-Domain Pade Approximation and Modal-Pade Method for Multivariable Systems

A modification of the Routh approximant is introduced which results in a considerable improvement over the conventional Routh approximation technique. Since some amount of arbitrariness is available in the time moment expressions of the conventional Routh approximant, it can be utilized to minimize the step response error while preserving the stability and moment matching property of the conventional Routh approximant. A numerical example illustrates the procedure. Copyright © 1986 by The Institute of Electrical and Electronics Engineers, Inc.

IEEE Transactions on Automatic Control

An Improvement on Routh Approximation Technique

A method of reduction is introduced which is an improvement over the conventional Routh approximation procedure. Since some amount of arbitrariness is available in the time moment expressions of the conventional Routh approximant, it can be utilized to minimize the step response error while preserving the stability and moment matching property of the conventional Routh approximant. The method is extended to multivariable systems in the frequency domain.

IMPROVED ROUTH APPROXIMANTS FOR SINGLE AND MULTI-INPUT SYSTEMS.

A Modal-Pade method in time domain is proposed. The Pade equations are derived by assuming the higher order system and reduced order model in state space. The time domain Modal-Pade method is explained. While computationally attractive, this method preserves both the properties such as retention of dominant eigenvalues and matching of time moments. A numerical example is presented to illustrate the method.

TIME DOMAIN MODAL-PADE METHOD FOR REDUCING THE ORDER OF LINEAR TIME INVARIANT SYSTEMS.

A criterion for selecting the order of a reduced dimensional model for a multivariable system is introduced. The criterion is based on impulse response energy error and is applicable for Routli approximant models. The proposed method is illustrated using, a numerical example. © 1983 Taylor & Francis Ltd.