Publisher DOI: | 10.3182/20140824-6-za-1003.01058 | Title: | Self-scheduled control of a gyroscope | Language: | English | Authors: | Theis, Julian ![]() Radisch, Christian Werner, Herbert |
Keywords: | Gyroscopes; Linear parameter-varying systems; Mixed sensitivity problem; Multivariable control systems; Robust control applications; Robust controller synthesis | Issue Date: | 2014 | Source: | IFAC Proceedings Volumes 19: 6129-6134 (2014) | Abstract (english): | A classical mixed sensitivity minimization approach and a model matching formulation are compared with the goal to design a linear parameter-varying augmented state feedback control law for a laboratory-scale control moment gyroscope. Dynamic weighting filters are used to impose integral action and roll-off on the controller. Consequently, measurement noise is effectively suppressed and steady state accuracy is guaranteed even in the presence of input disturbances. Both designs are validated in real-time experiments and compared to a previous design that uses static weights. With the new designs, control effort is reduced while transient performance is maintained and tracking accuracy, as well as disturbance attenuation, is improved. |
URI: | http://hdl.handle.net/11420/14659 | ISBN: | 9783902823625 | ISSN: | 1474-6670 | Journal: | IFAC Proceedings Volumes | Institute: | Regelungstechnik E-14 | Document Type: | Chapter/Article (Proceedings) |
Appears in Collections: | Publications without fulltext |
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