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Sliding Mode Control based on a Modified Linear Control Input
Takehito Fujio,Hiroki Shibasaki,Ryo Tanaka,Takahiro Murakami,Yoshihisa Ishida 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.1
In this study, we explain and demonstrate a design method of sliding mode control based on a modifiedlinear control input. In the proposed method, the optimal gain matrix is derived such that it does not depend onthe plant parameters. We confirmed the robustness of the proposed method by applying input-side disturbancesand plant parameter deviations to plants and the effectiveness of the proposed method by performing a DC motorposition control experiment.
Closed Loop Modelling Method for Non-linear System Using Laguerre Polynomials
Yusuke Hirama,Hiroto Hamane,Fujio Hiroki 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents a modelling method for noisy response data of a closed loop with a PI controller. A general pre-£ltering procedure is not required in this method. A three-step procedure for estimating Laplace transfer function of a process is proposed. The true closed loop response is estimated from noisy response data, exploiting orthonormal properties of Laguerre functions. Then the closed loop transfer function model (called the Laguerre model) is represented by Laplace transforms of Laguerre polynomials approximated to a true response. Lastly, the process transfer function model is computed from the Laguerre model and the PI controller. PI parameters are given by gain constant, time constant and dead time of process approximated to £rst-order lag element plus dead-time system. Using this algorithm, the process model is estimated only by the settling time of response data. Simulation and experiment results show that the proposed method is effective for non-linear systems in modelling.