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A Design Method of a Model-following Control System
Hiroki Shibasaki,Rubiyah Yusof,Yoshihisa Ishida 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.4
This paper describes and demonstrates a model-following control system that is based on a switching function where an optimal gain matrix is determined by the LQR method. In our proposed method, the optimal gain matrix is derived such that it does not depend on the plant parameters. Simulation results show various cases including the nominal plant and the plant with a modeling error. The experimental study is also performed using a DC motor. The simulation and experimental results show that the proposed method has superior effectiveness.
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.