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
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/76361
Ver los metadatos del registro completo
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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 Técnicas2025-09-29T09:51:03Zoai: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:34982025-09-29 09:51:04.108CONICET 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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1844613570659090432 |
score |
13.070432 |