Equal Educational Opportunity for Children With Special Needs: The Federal Role in Australia

A control engineering benchmark problem with industrial relevance is presented. The process is a simulation model of a nonlinear four-mass system, which should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only the so-called regulator problem

A Benchmark Problem for Robust Feedback Control of a Flexible ManipulatorA benchmark problem for robust feedback control of a flexible manipulator

A benchmark problem for robust feedback control of a flexible manipulator is presented. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties, and load disturbances affecting both the motor and the arm. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. Four suggested solutions are presented, and even though the solutions are based on different design methods, they give comparable results

A Benchmark Problem for Robust Control of a Multivariable Nonlinear Flexible Manipulator

A benchmark problem for robust feedback control of a manipulator is presented. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions. The gear transmission is described by nonlinear friction and elasticity. The system is uncertain according to a parametric uncertainty description and due to uncertain disturbances affecting both the motors and the tool. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only disturbance rejection. The proposed model is validated by experiments on a real industrial manipulator

Anti-Windup Compensators For Multivariable Control Systems

Model-based anti-windup compensation is here considered for multiple-input multiple-output (MIMO) systems. The aim will be to modify the dynamics of a control loop when actuators saturate, so that a good transient behaviour is attained after desaturation, while avoiding limit cycle oscillations and repeated saturations. It is of advantage if such effects can be controlled separately, while leaving the nominal dynamics unchanged when no actuators saturate. A controller structure with three degrees of freedom, with feedback from saturated control signals, is therefore proposed. The transfer function of this controller corresponds to that of a nominal controller, with two degree of freedom, as long as none of the actuators saturate. The structure of the controller is selected such that the loop gain around the bank of saturations is made diagonal. The properties of the loop around each saturation can then be tuned separately. We propose one way of doing this, by means of solving a set of ..

Systematic Anti-Windup Compensator Design for Multivariable Systems

The aim of anti-windup compensation is to modify the dynamics of a control loop when control signals saturate, so that a good transient behaviour is attained after desaturation, while avoiding nonlinear oscillations and repeated saturations. Model-based anti-windup compensation is here considered for multiple-input multiple-output (MIMO) systems. A modified controller structure is proposed, which leaves the nominal closed-loop dynamics unchanged, as long as none of the control signals saturate. The proposed approach is applicable to continuous-time as well as discrete-time systems. Although it is developed for systems in input-output form, it can be used for systems in state-space form as well. 1 Introduction The problem of finding controllers which have desired properties during or after saturation events has, over the years, resulted in a number of different anti-windup strategies. Many of the proposed methods focus on adjusting the states of the controller during a saturation event..

Identification of Flexibility Parameters of 6-axis Industrial Manipulator Models

A method for identification of flexibility parameters of a 18 DOF (degrees offreedom) robot prototype model is proposed. Experiments show the strengthof the method and the results indicates that flexibilities in the bearings and thearms, taken together, are of the same order as the flexibilities in the gears

Identification of Flexibility Parameters of 6-axis Industrial Manipulator Models

A method for identification of flexibility parameters of a 18 DOF (degrees offreedom) robot prototype model is proposed. Experiments show the strengthof the method and the results indicates that flexibilities in the bearings and thearms, taken together, are of the same order as the flexibilities in the gears