CDC2000 Electro-Mechanical Systems

Electro-Mechanical Systems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	On the Control of the ``Ball and the Beam" System: A Trajectory Planning Approach Authors: Hebertt Sira-Ramírez, Volume: 1, Page 4042 Paper number 1070 Abstract: An approximate linearization scheme, in combination with a suitable off-line trajectory planning, is proposed for the equilibrium to equilibrium regulation of the popular ``ball and the beam" system. An exact nominal trajectory is found by solving a discontinuous nonlinear differential equation. Since this does not allow for nominal torque input calculations, then an approximate nominal trajectory is found based on the flat approximation to the system. We proceed to use approximate linearization of the full, non-flat, system and find the resulting time-varying linear system on which a state feedback and output feedback controllers are developed using recently published controller design techniques based on Hardy field considerations. The results are illustrated by means of digital computer simulations. CD001070.PDF (From Author) TOP Control of Zero-Bias Magnetic Bearings Using Control Lyapunov Functions Authors: Panagiotis Tsiotras, Brian Wilson, Robert Bartlett, Volume: 1, Page 4048 Paper number 1969 Abstract: Zero-bias or low-bias control of AMB's is essential for the design of magnetic bearings with low power losses. This paper investigates the use of control Lyapunov functions (clf's) to solve the problem of global asymptotic stabilization for a zero-bias Active Magnetic Bearing (AMB). We use the cascade structure of the system to derive a clf for the AMB model which is then used to derive a stabilizing control law. This control law is designed so that the closed-loop system is homogeneous of degree with respect to a certain dilation. Simulation results are provided to evaluate the proposed control design. CD001969.PDF (From Author) TOP Lagrangian Modeling And Control Of Switching Networks With Integrated Coupled Magnetics Authors: Jacquelien M.A. Scherpen, Dimitri Jeltsema, J. Ben Klaassens, Volume: 1, Page 4054 Paper number 1216 Abstract: In this paper a method is presented to build an Euler-Lagrange model for electrical networks, including switches and integrated (non-ideal) coupled-magnetics, in a structured general way. One of the advantages of emphasizing the physical structure of these systems is its functionality during the controller design stage. In case a switching network contains coupled-inductor structures, an additional path for the energy transfer is introduced. For this reason, a basic building block is proposed that describes the dynamical behaviour of a pair of magnetically coupled-inductors. This building block is applicable to all types of switching converters, and easily predicts the existence of reduced or zero-ripple current. For using the Lagrangian structure for controller design, the zero-dynamics for such switching network has to be studied. It is shown that under certain coupling conditions it will not be possible to design a globally stable controller. The approach is illustrated by means of the coupled-inductor Cuk converter with zero-output ripple, in closed loop with an adaptive passivity-based controller. CD001216.PDF (From Author) TOP Nonlinear Speed Control Of Elastic Systems With Backlash Authors: Mattias Nordin, Per-Olof Gutman, Volume: 1, Page 4060 Paper number 2076 Abstract: Backlash in elastic systems is one of the most important non-linearities that limits the performance of speed control in industrial drives. In this work a new robust non-linear speed controller for such system is proposed. Two linear controllers are designed, one globally stable with reduced performance, and one with high performance exhibiting limit cycles around the backlash. The two controllers are combined into one high performance, stable non-linear controller with soft switching. The advantage of the new controller is shown with simulations and measurements on a large real life drive system. CD002076.PDF (From Author) TOP Modeling and Control Design for a Controllable Bearing System Authors: Daniel C. Deckler, Robert J. Veillette, Minel J. Braun, Fred K. Choy, Volume: 1, Page 4066 Paper number 9707 Abstract: This paper introduces the application of a linear-quadratic regulator to a controllable tilting-pad bearing system to reduce the vibration in a rotating machine. This application first requires a nonlinear transient simulation of the bearing to determine the stiffness and damping coefficients associated with each pad of the bearing at a given equilibrium position. The stiffness and damping coefficients are incorporated into a linear state-variable model, and a state-feedback control law is computed to minimize a quadratic performance index. The performance index parameters are adjusted to produce a suitably regulated shaft orbit in the nonlinear simulation. The results stand as a significant step toward the application of feedback control to an experimental bearing system. CD009707.PDF (From Author) TOP Indirect Control of High Frequency Power Converters for AC Generation Authors: Joaquin Alvarez, Domingo Cortés, Jaime Alvarez-Gallegos, Volume: 1, Page 4072 Paper number 1521 Abstract: It is shown how a very simple procedure of time reversal can solve, in a much easier way than other techniques, an important problem arising in some control strategies of two conventional DC-to-DC switched power converters used to generate an alternate voltage signal: the boost and the buck-boost circuits. This problem is related to the non-minimum phase nature of the capacitor voltage normally used as output in these devices, which compels to control indirectly this variable by controlling the inductor current. A stable model that generates an adequate reference for this signal is proposed, which can be used in-line or in batch mode. The procedure is illustrated by numerical simulations using a sliding mode controller proposed elsewhere. CD001521.PDF (From Author) TOP A Three-Phase AC Power Source Using Robust Model Reference Adaptive Control Authors: Emerson Giovani Carati, Carlos Mendes Ritcher, Hilton Abílio Gründling, Volume: 1, Page 4078 Paper number 1979 Abstract: This paper presents the development of an equilibrated three-phase power source, which is able to generate sinusoidal waveforms with adjustable amplitudes and frequencies, as well as several arbitrary waveforms. The setup is based on a computer-controlled three-phase PWM inverter system, which model is rewritten using ab0 transformation. A robust model reference adaptive controller (RMRAC) is used to assure system robustness and performance. Simulation and experimental results are used to show the closed-loop system performance, when different waveforms are generated under several operation conditions. CD001979.PDF (From Author) TOP