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PLL Equivalent Augmented System Incorporated with State Feedback Designed by LQR
Somsak Wanchana,Tawom Benjanarasuth,Noriyuki Komine,Jongkol Ngamwiwit 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.2
The PLL equivalent augmented system incorporated with state feedback is proposed in this paper. The optimal value of filter time constant of loop filter in the phase-locked loop control system and the optimal state feedback gain designed by using linear quadratic regulator approach are derived. This approach allows the PLL control system to employ the large value of the phase-frequency gain Kd and voltage control oscillator gain K?. In designing, the structure of phase-locked loop control system will be rearranged to be a phase-locked loop equivalent augmented system by including the structure of loop filter into the process and by considering the voltage control oscillator as an additional integrator. The designed controller consisting of state feedback gain matrix K and integral gain kI, is an optimal controller. The integral gain kI related to weighting matrices q and R will be an optimal value for assigning the filter time constant of loop filter. The experimental results in controlling the second-order lag pressure process using two types of loop filters show that the system response is fast without steady-state error, the output disturbance effect rejection is fast and the tracking to step changes is good.
Hybrid Controller for Swinging up and Stabilizing the Inverted Pendulum on Cart
Ekachai Asa,Taworn Benjanarasuth,Jongkol Ngamwiwit,Noriyuki Komine 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, a hybrid controller for swinging up and stabilizing an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by Coefficient Diagram Method. The simulation results show that the designed hybrid controller can be mutually operated with acceptable efficiency.