Abstract
Root-locus-based PID controller and LQR-based controller always fail as system nonlinearity increases. We here propose the optimization-compensated block/diagram to reinforce the stabilization ability of these two classical control methods for nonlinear system, and besides, to achieve other performance requirements such as constrained overshoot and fast response. The controller design of a nonlinear sliding weights balancing mechanism is based on optimization-compensated root locus and LQR method. First, according to root-locus of the linearized dynamic system, we propose extra poles and zeros addition to roughly draw the locus shifting to left to achieve stabilization requirement. The poles and zeros are realized by P/PD/PID controllers. For LQR approach, we choose performance parameters to meet stabilization and minimum energy requirement. The controller is realized as feedback controller. Further, to compensate the model-error from nonlinearity and to meet other performance such as overshoot and setting time, some P/PID parameters for root-locus method and the feedback gain for LQR method are optimized via optimal parameter searching in NCD/Matlab toolbox. The simulation results demonstrate the stability and the constrained performances of the entire closed-loop system can be ensured by the proposed compensated control block diagrams.
| Original language | English |
|---|---|
| Title of host publication | 2006 IEEE International Conference on Systems, Man and Cybernetics |
| Pages | 1349-1354 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2007 Aug 28 |
| Event | 2006 IEEE International Conference on Systems, Man and Cybernetics - Taipei, Taiwan Duration: 2006 Oct 8 → 2006 Oct 11 |
Publication series
| Name | Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics |
|---|---|
| Volume | 2 |
| ISSN (Print) | 1062-922X |
Other
| Other | 2006 IEEE International Conference on Systems, Man and Cybernetics |
|---|---|
| Country | Taiwan |
| City | Taipei |
| Period | 06-10-08 → 06-10-11 |
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All Science Journal Classification (ASJC) codes
- Engineering(all)
Cite this
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Balancing control of sliding inverted-wedge system : Classical-method-based compensation. / Wu, Shinq Jen; Wu, Cheng Tao; Chiou, Yung Yi; Lin, Chin Teng; Chung, Yi-Nung.
2006 IEEE International Conference on Systems, Man and Cybernetics. 2007. p. 1349-1354 4274037 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics; Vol. 2).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Balancing control of sliding inverted-wedge system
T2 - Classical-method-based compensation
AU - Wu, Shinq Jen
AU - Wu, Cheng Tao
AU - Chiou, Yung Yi
AU - Lin, Chin Teng
AU - Chung, Yi-Nung
PY - 2007/8/28
Y1 - 2007/8/28
N2 - Root-locus-based PID controller and LQR-based controller always fail as system nonlinearity increases. We here propose the optimization-compensated block/diagram to reinforce the stabilization ability of these two classical control methods for nonlinear system, and besides, to achieve other performance requirements such as constrained overshoot and fast response. The controller design of a nonlinear sliding weights balancing mechanism is based on optimization-compensated root locus and LQR method. First, according to root-locus of the linearized dynamic system, we propose extra poles and zeros addition to roughly draw the locus shifting to left to achieve stabilization requirement. The poles and zeros are realized by P/PD/PID controllers. For LQR approach, we choose performance parameters to meet stabilization and minimum energy requirement. The controller is realized as feedback controller. Further, to compensate the model-error from nonlinearity and to meet other performance such as overshoot and setting time, some P/PID parameters for root-locus method and the feedback gain for LQR method are optimized via optimal parameter searching in NCD/Matlab toolbox. The simulation results demonstrate the stability and the constrained performances of the entire closed-loop system can be ensured by the proposed compensated control block diagrams.
AB - Root-locus-based PID controller and LQR-based controller always fail as system nonlinearity increases. We here propose the optimization-compensated block/diagram to reinforce the stabilization ability of these two classical control methods for nonlinear system, and besides, to achieve other performance requirements such as constrained overshoot and fast response. The controller design of a nonlinear sliding weights balancing mechanism is based on optimization-compensated root locus and LQR method. First, according to root-locus of the linearized dynamic system, we propose extra poles and zeros addition to roughly draw the locus shifting to left to achieve stabilization requirement. The poles and zeros are realized by P/PD/PID controllers. For LQR approach, we choose performance parameters to meet stabilization and minimum energy requirement. The controller is realized as feedback controller. Further, to compensate the model-error from nonlinearity and to meet other performance such as overshoot and setting time, some P/PID parameters for root-locus method and the feedback gain for LQR method are optimized via optimal parameter searching in NCD/Matlab toolbox. The simulation results demonstrate the stability and the constrained performances of the entire closed-loop system can be ensured by the proposed compensated control block diagrams.
UR - http://www.scopus.com/inward/record.url?scp=34548142597&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34548142597&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2006.384903
DO - 10.1109/ICSMC.2006.384903
M3 - Conference contribution
SN - 1424401003
SN - 9781424401000
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 1349
EP - 1354
BT - 2006 IEEE International Conference on Systems, Man and Cybernetics
ER -