Title :
CDM Based Servo State Feedback Controller with Minimum-order Observer for Crane System
Author :
Puwan, Santi ; Nundrakwang, Songmoung ; Benjanarasuth, Taworn ; Ngamwiwit, Jongkol ; Komine, Noriyuki
Author_Institution :
Fac. of Eng. & Res. Center for Commun., King Mongkut´´s Inst. of Technol., Bangkok
fDate :
Oct. 18 2006-Sept. 20 2006
Abstract :
In this paper, the design of servo state feedback controller with minimum-order observer by using the concept of coefficient diagram method (CDM) for crane system is presented. An integrator is augmented to the system so that the system will exhibit no steady-state error in the response to step input. In order to apply the CDM method, the mathematical model of the crane system must be firstly linearized and converted into controllable canonical form by transformation matrix. Then feedback gain matrix, integral gain and observer gain matrix in sense of CDM can be obtained. The satisfied performances of the crane system controlled by the proposed controller are shown in simulation results
Keywords :
cranes; matrix algebra; observers; servomechanisms; state feedback; CDM based servo state feedback controller; coefficient diagram method; crane system; feedback gain matrix; mathematical model; minimum-order observer; observer gain matrix; steady-state error; transformation matrix; Communication system control; Control systems; Cranes; Design methodology; Equations; Mathematical model; Matrix converters; Observers; Servomechanisms; State feedback;
Conference_Titel :
Communications and Information Technologies, 2006. ISCIT '06. International Symposium on
Conference_Location :
Bangkok
Print_ISBN :
0-7803-9741-X
Electronic_ISBN :
0-7803-9741-X
DOI :
10.1109/ISCIT.2006.340029
