Distrubuted control system training Part 3

... ˆ s2 ‡ 3s ‡ 2, Ám ˆ s‡3 0 ˆ 0:1, ˆ 1, Ås† ˆ s2 ‡ 2s ‡ 2, Ã1 …s† ˆ s2 ‡ 2s ‡ 2, g ˆ ‰À5:0; 5:0ŠÂ ‰À4:0; 4:0Š  ‰À6:0; À0:1Š  ‰À6:0; 6:0Š, F…s† ˆ and implementing the …s ‡ 1 2 adaptive H2 optimal ... Figure 1.5 H2 IMC simulation 100 150 time t (second) time t (second) 20 0 25 0 300 Adaptive Control Systems 1.5 y system output ÐÐ y -system output r(t)=0.8sin(0.2t) r…t† ˆ 0:8 si...

Ngày tải lên: 10/08/2014, 21:22

... In Section 3. 2, we give the plant Adaptive Control Systems 43 description, control objective and then derive the MRAC based error model In Section 3. 3, the adaptive variable structure controller ... Stable Adaptive Systems, PrenticeHall, NJ [19] Feng, G and Palaniswami, M (1994) `Robust Direct Adaptive Controllers with a New Normalization Technique', IEEE Trans Automat Contr....

Ngày tải lên: 10/08/2014, 21:22

... kÀ1 p ˆ w2 k Using (4. 41), (4. 42), (4. 43) and the facts that as and k… kÀ2 À kÀ1 †k I, we can conclude that: k I; …kÀ2 À kÀ1 † p jwk j ‡ kk k 4: 44 " " k ˆ …kÀ2 À kÀ1 †kÀ1 ... Note that if kk k I then from (4. 26) and (4. 36) it " follows that kwk k " Introducing the control strategy (4. 48) into (4. 47) we obtain   Y "  k‡1 30 4: 49† ‡ kUkÀ1 0 YkÀ1 k " " ......

Ngày tải lên: 10/08/2014, 21:22

... À …t ‡ 1† j 5: 46† Taking z ˆ À…t†=jj…t†jj for (5. 45) , or z ˆ …t†=jj…t†jj for (5. 46) and using Adaptive Control Systems 95 (5. 43) we see that there are …z; j; † number of controller indices ... conditions limt3I M…t† ˆ ‡I, 84 Adaptive stabilization of uncertain discrete-time systems x 10 controller gain output 0 .5 −0 .5 −1 50 (a) 100 −1 −2 50 (b) 100 Figure 5. 1 Exampl...

Ngày tải lên: 10/08/2014, 21:22

... 26, 4, 65 1 -67 7 [ 16] Ioannou, P A and Sun, J (19 96) Robust Adaptive Control Prentice-Hall [17] Kreisselmeier, G (19 86) `Adaptive Control of a Class of Slowly Time-varying Plants', Systems and Control ... P ‰À1 :6; À0:1Š ‘ ‰0:1; 1 :6 ; b2 P ‰À1 :6; À0:1Š ‘ ‰0:1; 1 :6 ; a3 P ‰0:1; 1 :6 …5:109† i.e  ˆ f‰À1 :6; À0:1Š ‘ ‰0:1; 1 :6 ‰À1 :6; À0:1Š‘‰0:1; 1 :6 ‰0:1; 1 :6 g Choosing Ou...

Ngày tải lên: 10/08/2014, 21:22

... v; k > 4=3 …6 :73 † Indeed, consider the quadratic storage function V ˆ z2 ‡  2 …6 :74 † Adaptive Control Systems 1 37 Forming the derivative of V with respect to the solutions of (6 .72 ), using Young's ... synthesis of adaptive controllers (6.106) and (6.1 07) The goal of this section is to specify a subclass of adaptive controllers in the form of (6.106), (6.1 07) so that the ove...

Ngày tải lên: 10/08/2014, 21:22

... Vol K, 73± 78, San Francisco [ 18] Jiang, Z P and Praly, L (19 98) `Design of Robust Adaptive Controllers for Nonlinear Systems with Dynamic Uncertainties', Automatica, Vol 34, No 7, 82 5 84 0 [19] ... Nonlinear Systems', Automatica, 29, 181 ± 189 [32] Marino, R and Tomei, P (1995) Nonlinear Control Design: Geometric, Adaptive and Robust Prentice-Hall, Europe 1 58 Adaptive nonlinea...

Ngày tải lên: 10/08/2014, 21:22

... ( 199 5) `Adaptive Control of a Class of Nonlinear Discrete-time Systems Using Neural Networks', IEEE Transactions on Automatic Control, Vol 40, 791 ±801 [4] Song, Y and Grizzle, J W ( 199 3) `Adaptive ... Control of a Class of Discrete-time Nonlinear Systems', Proceedings of the 199 3 American Control Conference, San Francisco, CA, 13 59 1364 Â [5] Yeh, P.-C and Kokotovic, P V ( 199...

Ngày tải lên: 10/08/2014, 21:22

... noting that the control input in Figure 9.6 is similar to that in Figure 9.5 and of comparable 239 e (rad) Adaptive Control Systems u (N) (a) eF (N) (b) (c) Figure 9.6 Linear adaptive control with ... problem, an adaptive controller where 0 , 1 , h and e are unknown may be necessary 9.5.2.1 Adaptive control based on nonlinear parametrization The applicability of the adaptiv...

Ngày tải lên: 10/08/2014, 21:22

... Reference Adaptive Control Schemes', in Advances in Robust Control Systems Techniques and Applications, Vol 53, 99±123 Academic Press  [12] Tao, G and Kokotovic, P V (1996) Adaptive Control of Systems ... feedback control design for a known linear or nonlinear dynamics following the actuator nonlinearity Improvements of system tracking performance by an adaptive inverse have...

Ngày tải lên: 10/08/2014, 21:22

... 13± 14, 18±19 adaptive H optimal control, 11±12, 13, 14, 18±19 model reference adaptive control, 10±11, 13, 14, 18 partial adaptive pole placement, 10, 13, 14, 18 design of robust adaptive law, ... Adaptive control Lyapunov functions (aclf), 185, 188 Adaptive internal model control schemes, 7±21 330 Index certainty equivalence control laws, 9± 12, 15±16 adaptive H2 o...

Ngày tải lên: 10/08/2014, 21:22

... 240±2 structure of adaptive controller, 218±20 See also Nonlinear systems Nonlinear systems: adaptive robust control for uncertain dynamical systems, 308±27 adaptive robust control with modi®cation, ... also Fuzzy systems Newton±Raphson method, 227 Nonadaptive control schemes, 2±7 H2 optimal control, 4±5 HI optimal control, 5±6 model reference control, 3±4 partial pole placeme...

Ngày tải lên: 10/08/2014, 21:22

... 1 Auto light sensor Head lamps Lighting switch (Auto) 2010 > G 1.6 DOHC > Body Electrical System Circuit Diagram Tail lamps Body control module (BCM) Language 2010 > G 1.6 DOHC ... negative (-) battery terminal Remove the photo & auto light sensor(A) from crash pad upper side by using screw (-) driver Remove the auto light connector Installation Reconnect the auto li...

Ngày tải lên: 22/10/2012, 15:55

... 2.2 nh sau : Control System Toolbox & Simulink Hình 2.2 : M t s - - Simulink n gi n Kh i ng Simulink t Matlab b'ng dòng l$nh simulink Trong c a s c a Simulink, ch n bi&u t ng « New » & t o c a s ... 50 100 150 Time (sec.) Control System Toolbox & Simulink S d ng tr, chu t kích vào i&m c n tìm σmax=23%; Tmax= 70.7s c tính, ta xác (nh c SIMULINK Simulink c...

Ngày tải lên: 03/11/2013, 20:02

... hành, tình trạng động cơ… tín hiệu lấy từ mạng liệu MUX 7.4.3 Thuật tốn điều khiển chạy tự động: Chương trình điều khiển chạy tự động thiết lập dựa vào lý thuyết điều khiển mờ “ Fuzzy Control , người ... Đ /khiển Công tắc điều khiển MAIN Van điện số 2(ECT) SET/COAST RES/ACC ECU hay rơ le O/D Van điện O/D(A/T) ECU điều khiển chạy tự động ECU hay rơ...

Ngày tải lên: 09/11/2013, 03:15