In this paper, an intelligent robust position controller for permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent robust position controller consists of a two-degrees-offreedom integral plus proportional & rate feedback (2DOF I-PD) controller in addition to an on-line trained neural-network model-following controller (NNMFC). This controller, 2DOF I-PD NNMFC, comb...

A high-performance robust hybrid speed controller of permanent-magnet synchronous motor (PMSM) drive with on-line trained neural-network model-following controller (NNMFC) is proposed. The robust hybrid controller is a two-degrees-of-freedom (2DOF) integral plus proportional & rate feedback (I-PD) with neuralnetwork model-following (NNMFC) speed controller (2DOF I-PD NNMFC). The robust controll...

2 Background Theory on Modeling 4 2.1 Modeling of 2DOF systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.1.1 Schematics and block diagram of experimental set up . . . . . . . . . 4 2.1.2 Dynamic model for 2DOF system . . . . . . . . . . . . . . . . . . . . 5 2.1.3 Comparison of rectilinear and torsional system . . . . . . . . . . . . . 6 2.2 Dynamic response of second order sy...

In this paper we consider a robust H2 control problem for two-degree of freedom (2DOF) control systems with structured uncertainties. We show that it can be reduced to a scaled H∞ synthesis problem with one additional Linear Matrix Inequality (LMI) condition. Particularly it can be reduced to an LMI optimization problem if the uncertainty is unstructured. As a result, we can obtain the optimal ...

This paper deals with the modelling and control of semi-batch reactor used for chromium sludge regeneration process. A comparison of three process control approaches is presented. Usual PID controller without online identification (OI) and adaptive PID controller were adapted to semi-batch rector process in our previous studies. In this study the two-degrees-of-freedom (2DOF) controller is deve...

In this study, the model-matching problem (MMP) in two degrees of freedom (2DOF) control structure is considered for discrete-time system in the sense of the H∞ optimality criterion. The problem is solved in Linear Matrix Inequality (LMI) framework using the results on the standard H∞ OCP and the recent results given by Gören (2003) on the MMP in 2DOF control structure for continuous-time syste...

A two-degrees-of-freedom (2DOF) dual-rotor axial-flux induction motor (2DOF-DRAFIM) is proposed with independent movement capability of rotors and its performance evaluated in detail. First, using the analytical equations, steady-state model presented electrical equivalent circuit extracted along an electromagnetic design algorithm for motor. In next step, two-dimensional three-dimensional fini...

This paper deals with model predictive control (MPC) approach for a 2 DOF (degree of freedom) helicopter. The main objective is to stabilize beam of the 2DOF helicopter with respect to pitch and yaw angles. Development of controller for 2DOF helicopter is challenging because of its coupling effects between two axes and also due to its highly nonlinear characteristics. An accurate model of the s...

Many researches on vehicle planar motion stability focus on two degrees of freedom(2DOF) vehicle model, and only the lateral velocity (or side slip angle) and yaw rate are considered as the state variables. The stability analysis methods, such as phase plane analysis, equilibriums analysis and bifurcation analysis, are all used to draw many classical conclusions. It is concluded from these rese...

This paper studies and analyses fundamental trade-offs between positioning resolution, tracking bandwidth, and robustness to modeling uncertainties in two-degree-of-freedom (2DOF) control designs for nanopositioning systems. The analysis of these systems is done in optimal control setting with various architectural constraints imposed on the 2DOF framework. In terms of these trade-offs, our ana...