Dissipative design and the nonlinear TORA benchmark example, revisited

Author

Tadmor, Gilead

Author_Institution

Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA

Volume

2

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

1182

Abstract

The TORA example is used to illustrate issues concerning the selection of design parameters, in passive controllers, including the impact of both lossless and dissipative design parameters. The analysis reveals substantial differences in performance based preferences, in different parts of the state space. An alternative dual structure controller is suggested, which provides for faster convergence with much lower actuation, than a single structure dissipative controller. Dissipative, observer based design is also suggested for the partial state feedback case, featuring much shorter time constants than static feedback compensators

Keywords

nonlinear systems; observers; oscillators; state feedback; state-space methods; alternative dual structure controller; convergence; design parameter selection; design parameters; dissipative design; dissipative observer based design; nonlinear TORA benchmark example; partial state feedback case; passive controllers; performance based preferences; single structure dissipative controller; state space; static feedback compensators; time constants; Actuators; Concrete; Convergence; Eigenvalues and eigenfunctions; Manipulator dynamics; Oscillators; Performance analysis; Stability; State feedback; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.830088

Filename

830088