Bounding truncation errors of a flexible slewing beam using DC gain for controller design

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We develop a method of uncertainty modeling of a flexible slewing beam for robust controller design. The obtained uncertainty model consists of a finite dimensional nominal model and an uncertainty bound in the frequency domain. First, we review the conventional method by which a steady state solution to the original system is extensively utilized for bounding the error between the nominal truncated modal model and the original beam. Then as a main result, we establish a new error bound for the modal truncated model whose DC error is compensated. Numerical study demonstrates that, the error bound of the proposed nominal model is smaller than that of the conventional model in relevant frequency range, and thus, the proposed model leads to better control performance by a standard controller design.

Original languageEnglish
Title of host publication2016 European Control Conference, ECC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1976-1981
Number of pages6
ISBN (Electronic)9781509025916
DOIs
Publication statusPublished - Jan 6 2017
Event2016 European Control Conference, ECC 2016 - Aalborg, Denmark
Duration: Jun 29 2016Jul 1 2016

Other

Other2016 European Control Conference, ECC 2016
CountryDenmark
CityAalborg
Period6/29/167/1/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

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    Imai, J., Miyake, K., Takahashi, A., & Funabiki, S. (2017). Bounding truncation errors of a flexible slewing beam using DC gain for controller design. In 2016 European Control Conference, ECC 2016 (pp. 1976-1981). [7810581] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2016.7810581