|Publisher DOI:||10.3182/20140824-6-za-1003.01058||Title:||Self-scheduled control of a gyroscope||Language:||English||Authors:||Theis, Julian
|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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