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You searched for subject:(stabilizing controller). Showing records 1 – 3 of 3 total matches.

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Ohio University

1. Glenn, Russell David. A reduced order controller design method based on the Youla parameterization of all stabilizing controllers.

Degree: PhD, Electrical Engineering & Computer Science (Engineering and Technology), 1995, Ohio University

As control system complexity has increased, design of reduced order controllers (controllers with lower order than the design plant) has become an area of great interest. A new method of reduced order controller design based on the Youla parameterization of all stabilizing controllers is presented. In this method, a reduced order controller can be designed if a set of matrices which solves a Sylvester equation coupled with a standard linear equation can be found. A numerically stable and computationally efficient algorithm is developed which generates the solution and yields controllers with order equal to the minimum of <i>v</i>0-1 and <i>v</i>c-1, where <i>v</i>0 and <i>v</i>c represent the observability and controllability indices, respectively, of the design plant. Because <i>v</i>0 and <i>v</i>c are lower than the plant order for many multi-input, multi-output systems, reduced order controller designs are possible. Design examples are presented based on a control systems test fixture at NASA Marshall Space Flight Center. The algorithm can also be applied to H8 controller design problems to yield reduced order H8 controllers for some systems. Examples of successful reduced order controller designs are presented for a normalized H8 control problem and a mixed sensitivity H8 problem. Additional work shows that the Youla parameterization method has a direct interpretation in linear geometric control theory. This connection allows the designer to approach the reduced order controller design problem through the Youla Parameterization method or through geometric techniques. Advisors/Committee Members: Irwin, R. (Advisor).

Subjects/Keywords: controller design method; Youla parameterization; stabilizing controllers; algorithm

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Glenn, R. D. (1995). A reduced order controller design method based on the Youla parameterization of all stabilizing controllers. (Doctoral Dissertation). Ohio University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1174396903

Chicago Manual of Style (16th Edition):

Glenn, Russell David. “A reduced order controller design method based on the Youla parameterization of all stabilizing controllers.” 1995. Doctoral Dissertation, Ohio University. Accessed January 22, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1174396903.

MLA Handbook (7th Edition):

Glenn, Russell David. “A reduced order controller design method based on the Youla parameterization of all stabilizing controllers.” 1995. Web. 22 Jan 2020.

Vancouver:

Glenn RD. A reduced order controller design method based on the Youla parameterization of all stabilizing controllers. [Internet] [Doctoral dissertation]. Ohio University; 1995. [cited 2020 Jan 22]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1174396903.

Council of Science Editors:

Glenn RD. A reduced order controller design method based on the Youla parameterization of all stabilizing controllers. [Doctoral Dissertation]. Ohio University; 1995. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1174396903


KTH

2. Murtaza, Alexander. Handheld container stabilizer.

Degree: Industrial Engineering and Management (ITM), 2019, KTH

Self-stabilizing systems can be found in many contexts. They are used in aircraft and camera gimbals to name a few. In this project, a self-stabilizing container was constructed. The construction consists of three parts. An inner ring which rotates around the Z-axis, an outer ring which rotates around the Y-axis and a handle with space for three DC motors and a microcontroller. In this project an Arduino Nano was used. To detect inclination an IMU (Inertial Measurement Unit) was deployed. An IMU is a sensor consisting of three gyroscopes and three accelerometers, one for each coordinate axis. The software for the construction consists of four parts; angle reading, a Kalman filter, two PID-controllers and a motor controller. When a container is inserted into the construction the four-part system keeps the container horizontal and stable. Experimental data shows that in 84% of the tests the construction could stabilize the container.

Självstabiliserande system kan man finna i många olika sammanhang. Några exempel på självstabiliserande system är flygplan och kamerastabilisatorer. I detta projekt konstruerades en självstabiliserande behållare. Konstruktionen består av tre delar. En ring som kan rotera runt Z-axeln, en ring som kan rotera runt Y-axeln och ett handtag med plats för likströmsmotorer och mikrokontroller. I detta projekt användes Arduino Nano. För att avläsa vinklarna användes en tröghetsmäatare. En tröghetsmätare är en sensor som består av tre gyroskop och tre accelerometrar, en för varje axel. Mjukvaran i konstruktionen består av fyra delar; vinkelavläsning, ett Kalmanfilter, två PID-regulatorer och motorkontroller. Beroende på vilken vinkel konstruktionen har kommer någon av motorerna att korrigera vinkeln på behållaren. Testerna visade att konstruktionen kunde stabilisera behållaren i 84% av alla tester.

Subjects/Keywords: Mechatronics; Stable; Self-stabilizing Container; Arduino; MPU6050; PID-controller; Mekatronik; Stabil; Självstabiliserande behållare; Arduino; MPU6050; PID-regulator; Engineering and Technology; Teknik och teknologier

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Murtaza, A. (2019). Handheld container stabilizer. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Murtaza, Alexander. “Handheld container stabilizer.” 2019. Thesis, KTH. Accessed January 22, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Murtaza, Alexander. “Handheld container stabilizer.” 2019. Web. 22 Jan 2020.

Vancouver:

Murtaza A. Handheld container stabilizer. [Internet] [Thesis]. KTH; 2019. [cited 2020 Jan 22]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Murtaza A. Handheld container stabilizer. [Thesis]. KTH; 2019. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264484

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Mashrafi, Sheikh. X-ray microscope performance enhancement through control architecture change.

Degree: MS, 0133, 2014, University of Illinois – Urbana-Champaign

The goal of this thesis is to apply control algorithms to improve the performance of nanopositioning devices used on the beamline in Advanced Photon Source (APS) at Argonne National Laboratory (ANL). A prototype device, better known as the Early User Instrument (EUI) was the subject of this work. It consists of X-ray optics stage group that focuses the X-ray beam as a source-size-limited spot onto a sample held on the sample stage group. The controller algorithms that are used should provide the closed-loop with robust stability, large bandwidth, high resolution, disturbance rejection and noise attenuation. Conveniently, the field of scanning probe microscopes (SPMs) have already flourished on this aspect of controller algorithms proven to give desired closed-loop properties. Controller algorithms such as Proportional Integral Derivative (PID), Glover-McFarlane H-infinty algorithm, and 1DOF H-infinty controller were designed and implemented on the EUI system. The controller hardware used for implementation is National Instruments (NI) CompactRIO hardware that consists of a real-time controller, a FPGA built into the hardware chassis, analog I/O modules, and digital I/O modules. NI LabVIEW, the dedicated software to the NI hardware, was used to represent the discrete controllers as biquads structures that ran in the FPGA as a part of the closed-loop . The largest closed-loop bandwidth achieved is of 65 Hz through the 1DOF H-infinty controller and is a 171% improvement over the traditional PID controller. Highest closed- loop resolution achieved by the EUI with a 50 Hz bandwidth 1DOF H-infinty controller is 1.4 nanometers, which is a 180% improvement over the open loop resolution of 7 nanometers. Advisors/Committee Members: Salapaka, Srinivasa M. (advisor), Preissner, Curt (advisor).

Subjects/Keywords: control; Control Architecture; Advanced Photon Source (APS); Argonne National Laboratory (ANL); control algorithms; nanopositioning; nanopositioning devices; Early User Instrument (EUI); X-ray; optics; robust stability; bandwidth; resolution; disturbance rejection; noise attenuation; scanning probe microscope (SPM); closed-loop properties; Proportional Integral Derivative (PID); Glover-McFarlane h-infinity algorithm; 1DOF h-infinity controller; h-infinity; Glover-McFarlane controller; Keith Glover; Duncan McFarlane; controller; controller implementation; National Instruments (NI); CompactRIO; real-time controller; Field-Programmable Gate Array (FPGA); LabVIEW; biquads structures; closed-loop bandwidth; U.S. Department of Energy (DOE); Office of Science; DE-AC02-06CH11357; DE-SC0004283; Cross Power Spectral Density (CPSD); Power Spectral Density (PSD); Degree Of Freedom (DOF); Discrete-Time Fourier Transform (DTFT); Hardware Description language (HDL); High-Level Synthesis (HLS); Hard X-ray Nanoprobe (HXN); In Situ Nanoprobe (ISN); Laser Doppler Displacement Meter (LDDM); Physik Instrumente (PI); Reconfigurable Input/Output (RIO); Advanced Photon Source (APS) beamline; full-field imaging microscopy; fluorescence mapping; nanodiffraction; transmission imaging; reliability and repeatability of positioning systems; modeling uncertainties; insensitive modeling uncertainties; quantifying trade-offs; trade-offs; design flexibility; design methodology; feedforward; feedback; performance objectives; robustness; Advanced Photon Source (APS) user; beamline scientist; imaging resolution and bandwidth; imaging resolution; nanoprobe; model fitting; curve fitting; model reduction; feedback controllers; X-ray nanoprobe instrument; third-generation synchrotron radiation source; zone plate optics; zone plate; flexure stages; piezoelectric actuators stacks; flexure; Piezoelectric; high-stiffness stages; high-resolution weak-link stages; piezoelectric-transducer; sub-nanometer resolution; subnanometer; optical heterodyning; heterodyning; Optodyne; frequency-shifted laser beam; PID controller; digital to analog converter (DAC); analog input modules; digital input modules; analog output modules; cRIO-9118; Virtex-5; Virtex-5 LX110 FPGA chassis; NI-9223; NI-9402; NI-9263; System Identification; Identification; black-box identification; parametric model; non-parametric model; welch; pwelch; tfestimate; invfreqs; time domain data; band-limited uniform Gaussian white noise; band-limited; white noise; resonant peak; Balance Realization; minimal realization; controllability; observability; Experimental Frequency response; transfer function; Hankel singular values; Hankel norm; balanced truncation; noise histogram; Open Loop Resolution; closed Loop Resolution; Simulink simulation; LabVIEW simulation; discrete controller; continuous controllers; discrete; Tustin; tustins method; discretization; complementary sensitivity transfer function; sensitivity transfer function; robust stabilization; coprime factorization; Bezout identity; Bezout; stability margin; algebraic Riccati equation; Riccati equation; sub-optimal; suboptimal; sub-optimal controller; optimal controller; mixed-sensitivity optimization; sensitivity optimization; generalized framework; generalized controller framework; stabilizing controller; closed-loop objectives; generalized plant; nominal plant; linear fractional transformation; weighting transfer functions; weighted sensitivity; hinfsyn; bode integral law; waterbed effect; second waterbed formula; Skogestad; Poslethwaite; sensitivity weighting; sensitivity weighting transfer function; nanopositioner; nanopositioning device; nanopositioning system; second order sections; ASPE 28th Annual Meeting; American Society for Precision Engineering (ASPE); Synchrotron Radiation Instrumentation; Synchrotron; Nanoprobe Instrument

…Bode plot of a 38 Hz bandwidth PID controller. . . . . . . . . . . . . . . . Bode plot of… …verification of 38 Hz bandwidth PID controller . Closed-loop noise histogram with a 38 Hz PID… …controller giving a resolution of approx 3.9 nm. Whereas the open loop resolution is approx 7 nm… …schematic showing the Glover-McFarlane controller. . . . . . . . . . . . . Bode plot of the 38 Hz… …bandwidth Glover-McFarlane controller. . . . . . . Bode plot of the open loop identified plant… 

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Mashrafi, S. (2014). X-ray microscope performance enhancement through control architecture change. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/46671

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Mashrafi, Sheikh. “X-ray microscope performance enhancement through control architecture change.” 2014. Thesis, University of Illinois – Urbana-Champaign. Accessed January 22, 2020. http://hdl.handle.net/2142/46671.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Mashrafi, Sheikh. “X-ray microscope performance enhancement through control architecture change.” 2014. Web. 22 Jan 2020.

Vancouver:

Mashrafi S. X-ray microscope performance enhancement through control architecture change. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2014. [cited 2020 Jan 22]. Available from: http://hdl.handle.net/2142/46671.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mashrafi S. X-ray microscope performance enhancement through control architecture change. [Thesis]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/46671

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

.