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ITERATIVE FEEDBACK TUNING FOR NONLINEAR SYSTEMS BASED ON IDENTIFICATION OF LINEARIZED TIME-VARYING MODELS

Jonas Sjöberg (Institutionen för signaler och system, Mekatronik ; Institutionen för signaler och system) ; Per-Olof Gutman (Institutionen för signaler och system) ; Mukul Agarwal (Institutionen för signaler och system) ; Bax Mike (Institutionen för signaler och system)
Proceedings of the 9th Biennial ASME Conference on Engineering Systems Design and Analysis ESDA2008, July 7-9, 2008, Haifa, Israel ESDA2008-59062, (2008)
[Konferensbidrag, refereegranskat]

A novel algorithm for tuning controllers for nonlinear plants is presented. The algorithm iteratively minimizes a criterion of the control performance. For each controller update iteration, one experiment is performed with a reference signal slightly different from the previous reference signal. The input-output signals of the plant are used to identify a linear time-varying model of the plant which is then used to calculate an update of the controller parameters. The algorithm requires an initial feedback controller that stabilizes the closed loop for the desired reference signal and in its vicinity, and that the closed-loop outputs are similar for the previous and current reference signals. The tuning algorithm is successfully tested on a laboratory set-up of the Furuta pendulum.



Denna post skapades 2008-09-01.
CPL Pubid: 73422

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik
Institutionen för signaler och system

Ämnesområden

Reglerteknik

Chalmers infrastruktur