Exact linearization by feedback of state dependent parameter models applied to a mechatronics demonstrator

Shaban, Essam M. and Nada, Ayman A. and Taylor, C. James (2014) Exact linearization by feedback of state dependent parameter models applied to a mechatronics demonstrator. In: 10th UKACC International Control Conference. UNSPECIFIED, Loughborough.

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Abstract

The paper develops an exact linearization by feedback approach for State Dependent Parameter (SDP), Proportional-Integral-Plus (PIP) control. The method is demonstrated using a simple automated belt driven by a DC motor equipped with a single board Reconfigurable Input-Output (sbRIO-9631) card, within a Field Programmable Gate Array (FPGA), and with a real time processor for control. The demonstrator is first modelled using a discrete-time SDP model structure, in which the parameters are functionally dependent on measured system states. An exact linearization step returns a linear model with unity coefficients, which is subsequently used to design a PIP control algorithm based on linear system design strategies, including pole assignment and optimal linear quadratic design. Preliminary experimental results demonstrate that the new approach yields an acceptable control performance for the nonlinear system.

Item Type:
Contribution in Book/Report/Proceedings
Subjects:
ID Code:
69036
Deposited By:
Deposited On:
01 Apr 2014 10:57
Refereed?:
Yes
Published?:
Published
Last Modified:
01 Jan 2020 05:45