Robust cross-directional control of paper making machines with saturating actuators
نویسندگان
چکیده
In this report we discuss the design of cross-directional controllers which are guaranteed to be robustly stabilizing while incorporating a quadratic programme for steady state performance. The report is loosely based on the technical report of Akkermans (2003) who proposes using the multivariable circle criterion to guarantee closed-loop stability of cross-directional controllers in the presence of sector-bounded nonlinearities. Heath and Wills (2004) recommend implementing cross-directional controllers in modal form with a constrained internal model control (IMC) structure; nominal optimal steady state performance is guaranteed via a non-linear element that incorporates a quadratic programme. Finally Heath et al. (2003) observe that the quadratic programme suggested by Heath and Wills (2004) can be expressed as a continuous sector bounded nonlinearity together with two linear transformations.
منابع مشابه
Robust Fault Detection on Boiler-turbine Unit Actuators Using Dynamic Neural Networks
Due to the important role of the boiler-turbine units in industries and electricity generation, it is important to diagnose different types of faults in different parts of boiler-turbine system. Different parts of a boiler-turbine system like the sensor or actuator or plant can be affected by various types of faults. In this paper, the effects of the occurrence of faults on the actuators are in...
متن کاملOptimal Robust Control for a Series Elastic Actuator assisting Knee Joint
Rehabilitation and assistive systems such as rotary series elastic actuators (RSEA) should provide the desired torque precisely. In this paper, to improve the life quality of those who suffer from weak knees, the control problem of a rotary series elastic actuator (RSEA) has been studied in order to generate soft human walking motion. These actuators produce the require torque, but the nonlinea...
متن کاملSliding mode control of periodic discrete-time linear systems with saturating actuators and input disturbances
This paper proposes the use of a time-varying sliding surface for robust transient shaping of periodic linear discrete-time plants subject to saturating actuators, in the presence of bounded matched uncertainties. A constructive procedure is presented, ultimate boundedness of state trajectories is proved and a result about the choice of tuning parameters for robust transient shaping is given.
متن کاملRobust performance of cross-directional basis-weight control in paper machines
-The cross-machine-direction (CD) control problem in paper machines is analysed from the viewpoint of robust performance. The objective of robust performance is to maintain control system stability and to satisfy a bound on the maximum singular value of the closed-loop sensitivity function despite modelling error. Characteristics common to all CD response control problems including paper basisw...
متن کاملRobust Control of a Quadrotor in the Presence of Actuators' Failure
Today, robots and unmanned aerial vehicles are being used extensively in modern societies. Due to a wide range of applications, it has attracted much attention among scientists over the past decades. This paper deals with the problem of the stability of a four-rotor flying robot called quadrotor, which is an under-actuated system, in the presence of operator or sensor failures. The dynamica...
متن کامل