Application of EM PC for Under-Damped Type-1 Systems

Aravind, MA and Rajanna, K and Dinesh, NS (2017) Application of EM PC for Under-Damped Type-1 Systems. In: 3rd IEEE International Conference on Control, Automation and Robotics (ICCAR), APR 22-24, 2017, Nagoya, JAPAN, pp. 471-476.

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Abstract

This paper presents design of a new controller based on the concept of Experience Mapping based Predictive Controller (EMPC) for an under-damped Type 1 system. The earlier design of EMPC uses rectangular pulse input as control action for well damped Type 1 systems. However, this control action is not suitable for under-damped systems as it produces undesirable oscillations. The proposed design modifies the basic control action to suit under-damped systems by reducing overshoots and oscillations. The proposed controller is used to control a DC motor based positioning system with a load coupled through a flexible shaft, which constitutes an under damped position system. The simulation results show that the proposed controller performs better than traditional controllers like the Proportional-Derivative (PD), and State Space based controllers like the Linear Quadratic Regulator (LQR) and the Linear Quadratic Gaussian (LQG) controller.

Item Type:	Conference Proceedings
Additional Information:	Copy right for this article belongs to the IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Department/Centre:	Division of Electrical Sciences > Electronic Systems Engineering (Formerly Centre for Electronic Design & Technology) Division of Physical & Mathematical Sciences > Instrumentation Appiled Physics
Date Deposited:	22 Jul 2017 07:07
Last Modified:	21 Feb 2019 10:34
URI:	http://eprints.iisc.ac.in/id/eprint/57480

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