Continuous Motion NCTF control of a one mass rotary system.
In this paper, a practical control scheme is proposed for the positioning control of a one mass rotary system which is a part of Rotary Inverted Pendulum (RIP) system. RIP system is complex, nonlinear, under actuate and unstable system which contributes to the difficulty to get desired response for...
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| Main Authors: | , |
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| 格式: | Conference or Workshop Item |
| 語言: | English |
| 出版: |
2013
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| 主題: | |
| 在線閱讀: | http://eprints.utem.edu.my/id/eprint/10881/1/%5BOfficial%5D_CM_NCTF_control_of_a_one_mass_rotary_system.pdf http://eprints.utem.edu.my/id/eprint/10881/ http://ee.ump.edu.my/inecce/ |
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| 總結: | In this paper, a practical control scheme is proposed for the positioning control of a one mass rotary system which is a part of Rotary Inverted Pendulum (RIP) system. RIP system is complex, nonlinear, under actuate and unstable system which contributes to the difficulty to get desired response for the system. Hence the Nominal Characteristic Trajectory Following (NCTF) controller is proposed and improved. The NCTF controller consists of a simple structure comprising Nominal Characteristic Trajectory (NCT) and Proportional Integral (PI) element. This controller also does not require exact model and parameter identification. To construct the NCT, suitable input signal was obtained and satisfied. Two types of NCTF controller are proposed for positioning and tracking controller which is Conventional NCTF (NCTF) controller and Continuous Motion NCTF (CM-NCTF) controller. The effectiveness of CM-NCTF controller was compared to Conventional NCTF controller in positioning and tracking control experiment. |
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