Title :
Dissipative design and the nonlinear TORA benchmark example, revisited
Author_Institution :
Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830088
