This paper presents an enhanced internal model control (EIMC) scheme for
a time-delayed second order unstable process, which is subjected to exogenous disturbance
and model variations. Even though the conventional internal model control (IMC) can provide an asymptotic tracking response with desired stability margins, the major limitation
of conventional IMC is that it cannot be applied for an unstable system because a small
exogenous disturbance can trigger the control signal to grow unbounded. Hence, modifying the conventional IMC structure to guarantee the internal stability, we present an EIMC
scheme which can offer better trade-off between setpoint tracking and disturbance rejection characteristics. To improve the load disturbance rejection characteristics and attenuate
the effect of sensor noise, we solve the selection of controller gains as an H∞ optimization
problem. One of the key aspects of the EIMC scheme is that the robustness of the closed
loop system can be tuned via a single tuning parameter. The performance of the EIMC
scheme is experimentally assessed on a magnetic levitation plant for reference tracking
application. Experimental results substantiate that the EIMC scheme can effectively counteract the inherent time delay in the model and offer precise tracking, even in the presence
of exogenous disturbance. Moreover, by comparing the trajectory tracking performance of
EIMC with that of the proportional integral velocity (PIV) controller through cumulative
power spectral density (CPSD) of the tracking error, we show that the EIMC can offer
better low frequency servo response with minimal vibrations.
Ta witryna wykorzystuje pliki cookies do przechowywania informacji na Twoim komputerze. Pliki cookies stosujemy w celu świadczenia usług na najwyższym poziomie, w tym w sposób dostosowany do indywidualnych potrzeb. Korzystanie z witryny bez zmiany ustawień dotyczących cookies oznacza, że będą one zamieszczane w Twoim komputerze. W każdym momencie możesz dokonać zmiany ustawień dotyczących cookies
Informacja
SZANOWNI CZYTELNICY!
UPRZEJMIE INFORMUJEMY, ŻE BIBLIOTEKA FUNKCJONUJE W NASTĘPUJĄCYCH GODZINACH:
Wypożyczalnia i Czytelnia Główna: poniedziałek – piątek od 9.00 do 19.00