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Analysis and Design of a Servo Robust Control System
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Kamen M. Yanev (1*)
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(1) Control and Instrumentation Engineering at the Department of Electrical Engineering, Faculty of Engineering and
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Technology, University of Botswana, Botswana
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Abstract This paper provides further advancement of the analysis and design of robust servo nonlinear control systems. A backlash element is taken into account as a nonlinear section of the plant considered in this research. A robust controller design is achieved by a number of successive steps. Based on the difference equations of its stages, the robust controller is realized by two microcontrollers sections. Taking into consideration the Euler's approximation, the method of the D-partitioning, the describing-function stability analysis and the robust assessment are applied before and after the robust compensation. This research is a further development of the author’s work on the analysis and design of linear, nonlinear and digital robust control systems. The suggested tool for analysis and design of servo nonlinear robust control systems is essential and beneficial for the further development of control theory in this area Copyright © 2014 Praise Worthy Prize - All rights reserved.
Robust Servo System; Nonlinear; D-Partitioning Stability Analysis; Interaction; Describing Function Analysis; Discrete-Time Domain; Microcontrollers
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References Neimark Y., D-partition and Robust Stability, Computational Mathematics and Modeling, Vol. 9(Issue 2), pp. 160-166, 2006. Yanev K.M., Application of the Method of the D-Partitioning for Stability of Control Systems with Variable Parameters, Botswana Journal of Technology, Vol. 15(Issue 1): 26-33, 2005. Ogata K., Modern Control Engineering, London, Prentice-Hall International, Inc., pp. 662-675, 2000. Yanev K.M., Anderson G.O., Masupe S., Strategy for Analysis and Design of a Digital Robust Controller for Nonlinear Control Systems, 4th IASTED International Conference, ISBN 978-0-88986-929-5, p. 213-220. 2012 K. M. Yanev, G. O. Anderson, S. Masupe, Multivariable System’s Parameters Interaction and Robust Control Design, (2011) International Review of Automatic Control (IREACO), 4 (2), pp. 180-190. Yanev K.M., Anderson G., Masupe S., Strategy for Analysis and Design of Digital Robust Control Systems, ICGSTACSE Journal, Volume 12, Issue 1, pp. 37-44, 2012. Yanev, K.M., Advanced interactive tools for analysis and design of nonlinear robust control systems, (2013) International Review of Automatic Control (IREACO), 6 (6), pp. 720-727. Bhanot S., Process Control Principles and Applications, Oxford University Press, pp. 170-187, 2010. Phillips C., Digital Control System, Prentice-Hall International Inc., pp.125-403, 2000. Yanev K.M., Analysis of Systems with Variable Parameters and Robust Control Design, Proceedings of the 6th IASTED International Conference on Modeling, Simulation and Optimization, pp. 75-83, 2006. Yanev K.M., Stability of Control Systems with Two Variable Parameters, Proceedings of the 2nd IASTED International Conference ISBN 978-0-88986-763-5, pp.106-111, 2008. http://en.wikipedia.org/wiki/Describing_function Dorf R.C., Modern Control Systems, New York, USA, Addison-Wesley, pp.578-583, 2006. Kuo B.C., Automatic Control Systems, New York, USA, McGraw-Hill, pp.521-530, 2002. http://en.wikipedia.org/wiki/Euler_method Bates M., Interfacing PIC Microcontrollers Embedded Design by Interactive Simulation, Newness Imprint of Elsevier, UK, ISBN 0-7506-8028-8, pp. 177-274, 2011.
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