TY - GEN
T1 - Tensor product model transformation based friction compensation of a mechatronic system
AU - Takarics, Béla
AU - Korondi, Péter
AU - Baranyi, Péter
PY - 2010
Y1 - 2010
N2 - The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a straightforward way and the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting polytopic models to yield controllers with tractable and guaranteed performance. The main contribution of this paper is that it represents the friction of a DC servo drive in TP model form, automatically designs LMI based controller for friction compensation. The reference signal compensation is also based on the TP model transformation. The results were simulated for speed control of the DC servo drive and were compared to other control techniques.
AB - The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a straightforward way and the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting polytopic models to yield controllers with tractable and guaranteed performance. The main contribution of this paper is that it represents the friction of a DC servo drive in TP model form, automatically designs LMI based controller for friction compensation. The reference signal compensation is also based on the TP model transformation. The results were simulated for speed control of the DC servo drive and were compared to other control techniques.
KW - DC servo drive
KW - Friction compensation
KW - Non-linear system control
KW - Simulation
UR - http://www.scopus.com/inward/record.url?scp=77954763587&partnerID=8YFLogxK
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U2 - 10.1109/INES.2010.5483835
DO - 10.1109/INES.2010.5483835
M3 - Conference contribution
AN - SCOPUS:77954763587
SN - 9781424476527
T3 - INES 2010 - 14th International Conference on Intelligent Engineering Systems, Proceedings
SP - 259
EP - 264
BT - INES 2010 - 14th International Conference on Intelligent Engineering Systems, Proceedings
T2 - 14th International Conference on Intelligent Engineering Systems, INES 2010
Y2 - 5 May 2010 through 7 May 2010
ER -