Identification and Robust Control of an Experimental Servo Motor

Autores
Adam, Eduardo Jose; Guestrin, Elias Daniel
Año de publicación
2002
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a DC motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, firstly, a classic closed-loop identification technique is applied and then, the parameterization by internal model control (IMC) is used. The model uncertainty was evaluated by means of parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of the comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed by means of comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.
Fil: Adam, Eduardo Jose. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; Argentina
Fil: Guestrin, Elias Daniel. Universidad Tecnológica Nacional; Argentina
Materia
Robust Control
Parametric Uncertainty
Robust Controller Design
Servo
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/76361
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/76361
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Identification and Robust Control of an Experimental Servo MotorAdam, Eduardo JoseGuestrin, Elias DanielRobust ControlParametric UncertaintyRobust Controller DesignServohttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a DC motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, firstly, a classic closed-loop identification technique is applied and then, the parameterization by internal model control (IMC) is used. The model uncertainty was evaluated by means of parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of the comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed by means of comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.Fil: Adam, Eduardo Jose. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; ArgentinaFil: Guestrin, Elias Daniel. Universidad Tecnológica Nacional; ArgentinaElsevier Science Inc2002info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/76361Adam, Eduardo Jose; Guestrin, Elias Daniel; Identification and Robust Control of an Experimental Servo Motor; Elsevier Science Inc; ISA Transactions; 41; 2; 2002; 225-2340019-0578CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1016/S0019-0578(07)60082-2info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T11:20:23Zoai:ri.conicet.gov.ar:11336/76361instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-22 11:20:23.365CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Identification and Robust Control of an Experimental Servo Motor
title Identification and Robust Control of an Experimental Servo Motor
spellingShingle Identification and Robust Control of an Experimental Servo Motor
Adam, Eduardo Jose
Robust Control
Parametric Uncertainty
Robust Controller Design
Servo
title_short Identification and Robust Control of an Experimental Servo Motor
title_full Identification and Robust Control of an Experimental Servo Motor
title_fullStr Identification and Robust Control of an Experimental Servo Motor
title_full_unstemmed Identification and Robust Control of an Experimental Servo Motor
title_sort Identification and Robust Control of an Experimental Servo Motor
dc.creator.none.fl_str_mv Adam, Eduardo Jose
Guestrin, Elias Daniel
author Adam, Eduardo Jose
author_facet Adam, Eduardo Jose
Guestrin, Elias Daniel
author_role author
author2 Guestrin, Elias Daniel
author2_role author
dc.subject.none.fl_str_mv Robust Control
Parametric Uncertainty
Robust Controller Design
Servo
topic Robust Control
Parametric Uncertainty
Robust Controller Design
Servo
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a DC motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, firstly, a classic closed-loop identification technique is applied and then, the parameterization by internal model control (IMC) is used. The model uncertainty was evaluated by means of parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of the comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed by means of comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.
Fil: Adam, Eduardo Jose. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Desarrollo Tecnológico para la Industria Química. Universidad Nacional del Litoral. Instituto de Desarrollo Tecnológico para la Industria Química; Argentina
Fil: Guestrin, Elias Daniel. Universidad Tecnológica Nacional; Argentina
description In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a DC motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, firstly, a classic closed-loop identification technique is applied and then, the parameterization by internal model control (IMC) is used. The model uncertainty was evaluated by means of parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of the comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed by means of comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.
publishDate 2002
dc.date.none.fl_str_mv 2002
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/76361
Adam, Eduardo Jose; Guestrin, Elias Daniel; Identification and Robust Control of an Experimental Servo Motor; Elsevier Science Inc; ISA Transactions; 41; 2; 2002; 225-234
0019-0578
CONICET Digital
CONICET
url http://hdl.handle.net/11336/76361
identifier_str_mv Adam, Eduardo Jose; Guestrin, Elias Daniel; Identification and Robust Control of an Experimental Servo Motor; Elsevier Science Inc; ISA Transactions; 41; 2; 2002; 225-234
0019-0578
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1016/S0019-0578(07)60082-2
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier Science Inc
publisher.none.fl_str_mv Elsevier Science Inc
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.982451

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