NDLI: Parametric and nonparametric identification and robust control of a rotational/translational actuator (2003).

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Parametric and nonparametric identification and robust control of a rotational/translational actuator (2003).

Content Provider	CiteSeerX
Author	Tavakoli, M. Taghirad, H. D. Abrishamchian, M.
Abstract	RTAC benchmark problem considers a nonlinear fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational proof mass actuator for stabilizing translational motion. In order to implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally di#cult to determine rigorously. In this paper, an approach to the leastsquares estimation of system parameters is discussed and practically applied to the benchmark problem. Next, in order to design an H# controller, the nonlinear system is modelled as a perturbed linear system using an e#ective identification scheme. Experimental results confirm that this approach can e#ectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block. Finally, an e#ective mixed-sensitivity problem is developed for the system to satisfy all performance requirements as well as robust stability despite actuator saturation.
File Format	PDF
Publisher Date	2003-01-01
Access Restriction	Open
Subject Keyword	Rotational Translational Actuator Nonparametric Identification Robust Control Performance Requirement Whole Nonlinearities Translational Oscillator Rotational Proof Mass Actuator Nonlinear Interaction Benchmark Problem Ective Identification Scheme Model Parameter Di Cult Favorable Perturbation Block Nonlinear System Actuator Saturation Perturbed Linear System Model-based Controller Nonlinear Fourth-order Dynamical System Rtac Benchmark Problem Experimental Result Eccentric Rotational Proof Mass Ective Mixed-sensitivity Problem Leastsquares Estimation Translational Motion Robust Stability System Parameter
Content Type	Text

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