Title :
Robust pole assignment via P-D feedback in a class of second-order dynamic systems
Author :
Guo-Sheng, Wang ; Guang-ren, Duan
Author_Institution :
Center for Control Theor. & Guidance Technol., Harbin Inst. of Technol., China
Abstract :
The design of robust pole assignment via proportional-plus-derivative (P-D) feedback is investigated for a class of second-order dynamic systems. Based on P-D feedback parametric eigenstructure assignment for second-order dynamic systems, parametric expressions of the closed-loop eigenvalue sensitivities to the perturbed elements in the open-loop system matrices are derived and an effective algorithm for robust pole assignment in second-order dynamic systems via P-D feedback is proposed. This method utilizes directly the system data of the original second-order dynamic system, and thus is convenient to use in applications. A three lumped mass-spring dashpot system example shows the effect of this proposed algorithm.
Keywords :
PD control; closed loop systems; eigenstructure assignment; open loop systems; pole assignment; time-varying systems; PD feedback; closed-loop eigenvalue sensitivity; open-loop system matrices; parametric eigenstructure assignment; robust pole assignment; second-order dynamic system; Control engineering; Control systems; Control theory; Design engineering; Eigenvalues and eigenfunctions; Force feedback; Linear systems; Minimization methods; Robust control; Robustness;
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
DOI :
10.1109/ICARCV.2004.1469007
