In this paper, the tracking control scheme is presented using the framework of finite-time sliding mode control (SMC) law and high-gain observer for disturbed/uncertain multi-motor driving systems under the consideration multi-output systems. The convergence time of sliding mode control is estimated in connection with linear matrix inequalities (LMIs). The input state stability (ISS) of proposed controller was analyzed by Lyapunov stability theory. Finally, the extensive simulation results are given to validate the advantages of proposed control design.
EFFECT OF TWO EXOSYSTEM STRUCTURES ON OUTPUT REGULATION OF THE RTAC SYSTEMijctcm
This paper presents results on the output regulation of a single-input multi-output (SIMO) rotationaltranslational actuator (RTAC) system. The results focus primarily on stability and robustness, which are
studied in light of the presence of externally generated exogenous input signals. Two exosystem types were
investigated and tested. Obtained results answers the question of asymptotic stabilization and tracking of a
desired trajectory in the presence of a dynamic exosystem. The results confirmed the working theory of
robust stabilization using output feedback techniques, borne out of differential-geometric observer design
principles. The utilized design showed good stability results which compares favourably with existing
works on RTAC stabilization.
On tracking control problem for polysolenoid motor model predictive approach IJECEIAES
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
Design of an adaptive state feedback controller for a magnetic levitation sy...IJECEIAES
This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.
Output feedback trajectory stabilization of the uncertainty DC servomechanism...ISA Interchange
This work proposes a solution for the output feedback trajectory-tracking problem in the case of an uncertain DC servomechanism system. The system consists of a pendulum actuated by a DC motor and subject to a time-varying bounded disturbance. The control law consists of a Proportional Derivative controller and an uncertain estimator that allows compensating the effects of the unknown bounded perturbation. Because the motor velocity state is not available from measurements, a second-order sliding-mode observer permits the estimation of this variable in finite time. This last feature allows applying the Separation Principle. The convergence analysis is carried out by means of the Lyapunov method. Results obtained from numerical simulations and experiments in a laboratory prototype show the performance of the closed loop system.
Detecting Assignable Signals Via Decomposition Of Newma Statisticjournal ijrtem
Abstract: The MEWMAChart is used in Process monitoring when a quick detection of small or moderate shifts in the mean vector is desired. When there are shifts in a multivariateControlCharts, it is clearly shows that special cause variation is present in the Process, but the major drawback of MEWMA is inability to identify which variable(s) is/are the source of the signals. Hence effort must be made to identify which variable(s) is/are responsible for the out- of-Control situation. In this article, we employ Mason, Young and Tracy (MYT) approach in identifying the variables for the signals. Keywords: Quality Control, Multivariate StatisticalProcessControl, MEWMA Statistic
EFFECT OF TWO EXOSYSTEM STRUCTURES ON OUTPUT REGULATION OF THE RTAC SYSTEMijctcm
This paper presents results on the output regulation of a single-input multi-output (SIMO) rotationaltranslational actuator (RTAC) system. The results focus primarily on stability and robustness, which are
studied in light of the presence of externally generated exogenous input signals. Two exosystem types were
investigated and tested. Obtained results answers the question of asymptotic stabilization and tracking of a
desired trajectory in the presence of a dynamic exosystem. The results confirmed the working theory of
robust stabilization using output feedback techniques, borne out of differential-geometric observer design
principles. The utilized design showed good stability results which compares favourably with existing
works on RTAC stabilization.
On tracking control problem for polysolenoid motor model predictive approach IJECEIAES
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
Design of an adaptive state feedback controller for a magnetic levitation sy...IJECEIAES
This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.
Output feedback trajectory stabilization of the uncertainty DC servomechanism...ISA Interchange
This work proposes a solution for the output feedback trajectory-tracking problem in the case of an uncertain DC servomechanism system. The system consists of a pendulum actuated by a DC motor and subject to a time-varying bounded disturbance. The control law consists of a Proportional Derivative controller and an uncertain estimator that allows compensating the effects of the unknown bounded perturbation. Because the motor velocity state is not available from measurements, a second-order sliding-mode observer permits the estimation of this variable in finite time. This last feature allows applying the Separation Principle. The convergence analysis is carried out by means of the Lyapunov method. Results obtained from numerical simulations and experiments in a laboratory prototype show the performance of the closed loop system.
Detecting Assignable Signals Via Decomposition Of Newma Statisticjournal ijrtem
Abstract: The MEWMAChart is used in Process monitoring when a quick detection of small or moderate shifts in the mean vector is desired. When there are shifts in a multivariateControlCharts, it is clearly shows that special cause variation is present in the Process, but the major drawback of MEWMA is inability to identify which variable(s) is/are the source of the signals. Hence effort must be made to identify which variable(s) is/are responsible for the out- of-Control situation. In this article, we employ Mason, Young and Tracy (MYT) approach in identifying the variables for the signals. Keywords: Quality Control, Multivariate StatisticalProcessControl, MEWMA Statistic
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Transient stability analysis and enhancement of ieee 9 bus system ecij
System stability study is the important parameter of economic, reliable and secure power system planning and operation. Power system studies are important during the planning and conceptual design stages of the project as well as during the operating life of the plant periodically. This paper presents the power system stability analysis for IEEE- 9 bus test system. The fault is created on different busses and transient stability is analyzedfor different load and generation conditions. The critical clearing time (CCT) is calculated by
using time domain classical extended equal area criterion method. The system frequency and voltage variation is observed for different fault locations and CCT. The IEEE-9 bus test system is simulated and stability is analyzed on ETAP software
Flatness Based Nonlinear Sensorless Control of Induction Motor SystemsIAES-IJPEDS
This paper deals with the flatness-based approach for sensorless control of
the induction motor systems. Two main features of the proposed flatness
based control are worth to be mentioned. Firstly, the simplicity of
implementation of the flatness approach as a nonlinear feedback linearization
control technique. Secondly, when the chosen flat outputs involve non
available state variable measurements a nonlinear observer is used to
estimate them. The main advantage of the used observer is its ability to
exploite the properties of the system nonlinearties. The simulation results are
presented to illustrate the effectiness of the proposed approach for sensorless
control of the considered induction motor.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
Fuzzy logic based direct torque control of induction motor with space vector ...ijscai
The induction motors have wide range of applications for due to its well-known advantages like brushless
structures, low costs and robust performances. Over the past years, many kind of control methods are
proposed for the induction motors and direct torque control has gained huge importance inside of them due
to fast dynamic torque responses and simple control structures. However, the direct torque control method
has still some handicaps against the other control methods and most of the important of these handicaps is
high torque ripple. This paper suggests a new approach, Fuzzy logic based space vector modulation, on
the direct torque controlled induction motors and aim of the approach is to overcome high torque ripple
disadvantages of conventional direct torque control. In order to test and compare the proposed direct
torque control method with conventional direct torque control method simulations, in Matlab/Simulink,
have been carried out in different working conditions. The simulation results showed that a significant
improvement in the dynamic torque and speed responses when compared to the conventional direct torque
control method.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Fractional-order sliding mode controller for the two-link robot arm IJECEIAES
This study presents a control system of the two-link robot arm based on the sliding mode controller with the fractional-order. Firstly, the equations of the two-link robot arm are analyzed, then the author proposes the controller for each joint based on these equations. The controller is a sliding mode controller with its order is not an integer value. The task of the control system is controlling the torques acted on the joints so that the response angle of each link equal to the desired angle. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built for investigating the efficiency of the system. The result shows that the system quality is very good: there is not the chattering phenomenon of torques, the response angle of two links always follow the desired angle with the short transaction time and the static error of zero.
Evaluation of the stability enhancement of the conventional sliding mode cont...nooriasukmaningtyas
The proposed work is an attempt to investigate the stability of the nonlinear
system by using a whale optimization algorithm as of one of the metaheuristic optimization methods, and this investigation was conducted on a
single inverted pendulum as a study model. The evaluation measures which
were used in this article values of gain and sliding surface of the
conventional sliding mode controller to illustrate the extent of the system`s
stability. Furthermore, control action, the relationship between error and its
derivative, desired, and actual position in addition to sliding response
graphically showed the feasibility of the proposed solution. The attained
results illustrated considerable improvement in the settling time and
minimizing the impact of chattering behavior.
A sensorless approach for tracking control problem of tubular linear synchron...IJECEIAES
As well-known, linear motors are widely applied to various industrial applications due to their abilities in providing directly straight movement without auxiliary mechanical transmissions. This paper addresses the sensorless control problem of tubular linear synchronous motors, which belong to a family of permanent magnet linear motor. To be specific, a novel velocity observer is proposed to deal with an unmeasurable velocity problem, and asymptotic convergence of the observer error is ensured. Unlike other studies on sensorless control methods for linear motors, our proposed observer is designed by regrading unknown disturbance load in the tracking control problem whereas considering theoretical demonstrations. By adjusting controller parameters properly, the position and velocity tracking error converge in arbitrary small values. Finally, the effectiveness of the proposed method is verified in two illustrative examples.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Transient stability analysis and enhancement of ieee 9 bus system ecij
System stability study is the important parameter of economic, reliable and secure power system planning and operation. Power system studies are important during the planning and conceptual design stages of the project as well as during the operating life of the plant periodically. This paper presents the power system stability analysis for IEEE- 9 bus test system. The fault is created on different busses and transient stability is analyzedfor different load and generation conditions. The critical clearing time (CCT) is calculated by
using time domain classical extended equal area criterion method. The system frequency and voltage variation is observed for different fault locations and CCT. The IEEE-9 bus test system is simulated and stability is analyzed on ETAP software
Flatness Based Nonlinear Sensorless Control of Induction Motor SystemsIAES-IJPEDS
This paper deals with the flatness-based approach for sensorless control of
the induction motor systems. Two main features of the proposed flatness
based control are worth to be mentioned. Firstly, the simplicity of
implementation of the flatness approach as a nonlinear feedback linearization
control technique. Secondly, when the chosen flat outputs involve non
available state variable measurements a nonlinear observer is used to
estimate them. The main advantage of the used observer is its ability to
exploite the properties of the system nonlinearties. The simulation results are
presented to illustrate the effectiness of the proposed approach for sensorless
control of the considered induction motor.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
Fuzzy logic based direct torque control of induction motor with space vector ...ijscai
The induction motors have wide range of applications for due to its well-known advantages like brushless
structures, low costs and robust performances. Over the past years, many kind of control methods are
proposed for the induction motors and direct torque control has gained huge importance inside of them due
to fast dynamic torque responses and simple control structures. However, the direct torque control method
has still some handicaps against the other control methods and most of the important of these handicaps is
high torque ripple. This paper suggests a new approach, Fuzzy logic based space vector modulation, on
the direct torque controlled induction motors and aim of the approach is to overcome high torque ripple
disadvantages of conventional direct torque control. In order to test and compare the proposed direct
torque control method with conventional direct torque control method simulations, in Matlab/Simulink,
have been carried out in different working conditions. The simulation results showed that a significant
improvement in the dynamic torque and speed responses when compared to the conventional direct torque
control method.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Fractional-order sliding mode controller for the two-link robot arm IJECEIAES
This study presents a control system of the two-link robot arm based on the sliding mode controller with the fractional-order. Firstly, the equations of the two-link robot arm are analyzed, then the author proposes the controller for each joint based on these equations. The controller is a sliding mode controller with its order is not an integer value. The task of the control system is controlling the torques acted on the joints so that the response angle of each link equal to the desired angle. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built for investigating the efficiency of the system. The result shows that the system quality is very good: there is not the chattering phenomenon of torques, the response angle of two links always follow the desired angle with the short transaction time and the static error of zero.
Evaluation of the stability enhancement of the conventional sliding mode cont...nooriasukmaningtyas
The proposed work is an attempt to investigate the stability of the nonlinear
system by using a whale optimization algorithm as of one of the metaheuristic optimization methods, and this investigation was conducted on a
single inverted pendulum as a study model. The evaluation measures which
were used in this article values of gain and sliding surface of the
conventional sliding mode controller to illustrate the extent of the system`s
stability. Furthermore, control action, the relationship between error and its
derivative, desired, and actual position in addition to sliding response
graphically showed the feasibility of the proposed solution. The attained
results illustrated considerable improvement in the settling time and
minimizing the impact of chattering behavior.
A sensorless approach for tracking control problem of tubular linear synchron...IJECEIAES
As well-known, linear motors are widely applied to various industrial applications due to their abilities in providing directly straight movement without auxiliary mechanical transmissions. This paper addresses the sensorless control problem of tubular linear synchronous motors, which belong to a family of permanent magnet linear motor. To be specific, a novel velocity observer is proposed to deal with an unmeasurable velocity problem, and asymptotic convergence of the observer error is ensured. Unlike other studies on sensorless control methods for linear motors, our proposed observer is designed by regrading unknown disturbance load in the tracking control problem whereas considering theoretical demonstrations. By adjusting controller parameters properly, the position and velocity tracking error converge in arbitrary small values. Finally, the effectiveness of the proposed method is verified in two illustrative examples.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
Synthesis of the Decentralized Control System for Robot-Manipulator with Inpu...ITIIIndustries
It is discussed the problem of synthesis of the decentralized adaptive-periodic control system for two degrees of freedom robotic manipulator which have an input limitations. The solution of the problem is based on the use of hyperstability criterion, L-dissipativity conditions and dynamic filter-corrector.
Improvements the direct torque control performance for an induction machine u...IJECEIAES
This article examines a solution to the major problems of induction machine control in order to achieve superior dynamic performance. Conventional direct torque control and indirect control with flux orientation have some drawbacks, such as current harmonics, torque ripples, flux ripples, and rise time. In this article, we propose a comparative analysis between previous approaches and the one using fuzzy logic. Results from the simulation show that the direct torque control method using fuzzy logic is more effective in providing a precise and fast response without overshooting, and it eliminates torque and flux fluctuations at low switching frequencies. The demonstrated improvements in dynamic performance contribute to increased operational efficiency and reliability in industrial applications.
2-DOF BLOCK POLE PLACEMENT CONTROL APPLICATION TO:HAVE-DASH-IIBTT MISSILEZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4th order, it was approximated by its 2nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.
Robust control for a tracking electromechanical systemIJECEIAES
A strategy for the design of robust control of tracking electromechanical systems based on 𝐻∞ synthesis is proposed. Proposed methods are based on the operations on frequency characteristics of control systems designed and developed using the MATLAB robust control toolbox. Determination of the singular values for a transfer matrix of the control system reduces the disturbances and guarantees its stability margin. For selecting the weighted transfer functions, the basic recommendations are formulated. The efficiency of the proposed approach is verified by robust control of an elastically coupled two-mass system whose parameter values are adjusted by matching them with the parameters of one of the supplied robots. The simulation results confirm that the proposed strategy of design of robust control of twomass elastic coupling system using the 𝐻∞ synthesis is very efficient and significantly reduces the perturbation of parameters of the controlled plant.
Optimal Design of Super Twisting Control with PSO Algorithm for Robotic Manip...CSCJournals
Robotic manipulators are nonlinear and coupling systems exposing to external disturbance. They are used in wide industrial applications; the suitable selection of a nonlinear robust controller is required. Sliding Mode Controller (SMC) was designed to achieve these requirements, but unfortunately the chattering phenomenon was the main drawback of the conventional SMC. It leads to destructive of some components of a real system and subsequent loss in its accuracy. Hence, the design of Super-Twisting Controller (STC) is suggested for chattering elimination. In previous literatures, the accomplishment of the manual adjustment for the parameters of STC was a large burden and time consuming process. Therefore, a new combination of Particle Swarm Optimization (PSO) algorithm with STC is proposed for optimal tuning of STC parameters. The simulation results demonstrate the superiority of the super twisting technique for chattering mitigation comparing to the conventional SMC. Also, STC tuned via PSO proves its effectiveness and robustness to different types of external disturbances without the needs for the knowledge of their upper boundary values. Besides, the performance of the controlled system is faster and more accurate in the criteria of overshoot, settling time and rise time compared to the manual adjusting of super twisting controllers.
Comparison of backstepping, sliding mode and PID regulators for a voltage inv...IJECEIAES
In the present paper, an efficient and performant nonlinear regulator is designed for the control of the pulse width modulation (PWM) voltage inverter that can be used in a standalone photovoltaic microgrid. The main objective of our control is to produce a sinusoidal voltage output signal with amplitude and frequency that are fixed by the reference signal for different loads including linear or nonlinear types. A comparative performance study of controllers based on linear and non-linear techniques such as backstepping, sliding mode, and proportional integral derivative (PID) is developed to ensure the best choice among these three types of controllers. The performance of the system is investigated and compared under various operating conditions by simulations in the MATLAB/Simulink environment to demonstrate the effectiveness of the control methods. Our investigation shows that the backstepping controller can give better performance than the sliding mode and PID controllers. The accuracy and efficiency of the proposed backstepping controller are verified experimentally in terms of tracking objectives.
Hierarchical robust fuzzy sliding mode control for a class of simo under-actu...TELKOMNIKA JOURNAL
The development of the algorithms for single input multi output (SIMO) under-actuated systems with mismatched uncertainties is important. Hierarchical sliding-mode controller (HSMC) has been successfully employed to control SIMO under-actuated systems with mismatched uncertainties in a hierarchical manner with the use of sliding mode control. However, in such a control scheme, the chattering phenomenon is its main disadvantage. To overcome the above disadvantage, in this paper, a new compound control scheme is proposed for SIMO under-actuated based on HSMC and fuzzy logic control (FLC). By using the HSMC approach, a sliding control law is derived so as to guarantee the stability and robustness under various environments. The FLC as the second controller completely removes the chattering signal caused by the sign function in the sliding control law. The results are verified through theoretical proof and simulation software of MATLAB through two systems Pendubot and series double inverted pendulum.
Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Act...IJECEIAES
This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error.
Sliding mode control-based system for the two-link robot armIJECEIAES
In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.
Integral Backstepping Sliding Mode Control of Chaotic Forced Van Der Pol Osci...ijctcm
ABSTRACT
Forced Van der Pol oscillator exhibits chaotic behaviour and instability under certain parameters and this poses a great threat to the systems where it has been applied hence, the need to develop a control method to stabilize and control chaos in a Forced Van der Pol oscillator so as to avoid damage in the controlled system and also to prevent unmodeled dynamics from being introduced in the system. Sliding Mode control makes use of the regulatory variables derived from the controlled Lyapunov function to bring the new variables to stability. The essence of using Integral Backstepping was to prevent chattering which can occur in the control input and can cause instability to the system by igniting unmodeled dynamics. Simulation was done using MATLAB and the results were provided to show the effectiveness of the proposed control method. Integral Backstepping Sliding Mode control method was effective towards stability and chaos control. It was also robust towards matched and unmatched disturbance.
The International Journal of Computational Science, Information Technology an...rinzindorjej
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Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
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• Remote control system for accessing CCR and allied system over serial or TCP.
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Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
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On finite-time output feedback sliding mode control of an elastic multi-motor system
1. International Journal of Power Electronics and Drive System (IJPEDS)
Vol. 12, No. 1, Mar 2021, pp. 10~19
ISSN: 2088-8694, DOI: 10.11591/ijpeds.v12.i1.pp10-19 10
Journal homepage: http://ijpeds.iaescore.com
On finite-time output feedback sliding mode control of an
elastic multi-motor system
Pham Tuan Thanh1
, Tran Xuan Tinh2
, Dao Phuong Nam3
, Dao Sy Luat4
, Nguyen Hong Quang5
1,2
Le Quy Don University of Technology, Hanoi, Vietnam
3
Hanoi University of Science and Technology, Hanoi, Vietnam
4
Dong Nai Technology University, Biên Hòa, Vietnam
5
Thai Nguyen University of Technology, Thai Nguyen, Vietnam
Article Info ABSTRACT
Article history:
Received Jul 28, 2020
Revised Jan 15, 2021
Accepted Feb 15, 2021
In this paper, the tracking control scheme is presented using the framework
of finite-time sliding mode control (SMC) law and high-gain observer for
disturbed/uncertain multi-motor driving systems under the consideration
multi-output systems. The convergence time of sliding mode control is
estimated in connection with linear matrix inequalities (LMIs). The input
state stability (ISS) of proposed controller was analyzed by Lyapunov
stability theory. Finally, the extensive simulation results are given to validate
the advantages of proposed control design.
Keywords:
Finite-time control
Linear matrix inequalities
Multi-motor systems
Output feedback control
Sliding mode control This is an open access article under the CC BY-SA license.
Corresponding Author:
Nguyen Hong Quang,
Thai Nguyen University of Technology,
666, 3/2 Street, Tich Luong Ward, Thai Nguyen City - Thai Nguyen Province, Vietnam
Email: quang.nguyenhong@tnut.edu.vn
1. INTRODUCTION
Multi-motor drive systems have been employed in systems moving paper, metal, material being
quite popular in manufacturing systems and researched by many authors in the recent times. The control
method utilized artificial neural network (ANN) technique has been presented by Bouchiba et al., [1].
However, the disadvantage is to investigate the appropriate networks with associated learning rules in control
design. Furthermore, the effectiveness of tracking problem or the stabilization of the cascade system are not
still considered under the influences of using neural network approach. Dominique Knittel, et al., proposed
many linear controllers under the consideration of the approximate model of multi-motor systems without
elastic, friction as a linear system to design the controller based on the transfer function technique [2], [3].
The framework of the classical PI controller and H infinity to eliminate disturbance was proposed in the
work of [2], [3]. In the elastic multi-motor drive systems, it is necessary to estimate the belt tension to
establish the associated state feedback controller. However, the difficulties of the control design lie in the fact
that measurement of this belt tension by using sensors. The sliding mode control (SMC) technique based state
feedback control enables to eliminate influence of disturbances and unknown parameters was proposed in [1], [4].
In [4], the sliding mode controller was combined with disturbance observer as well as iterative learning
control (ILC), feedforward controller. It can be seen that, the classical nonlinear control law has been
investigated in robotic systems such as employing the fuzzy-control in inverted pendulum systems [5], robust
adaptive control schemes in bilateral teleoperators [6], wheeled mobile robotic systems [7], tractor trailer [8].
2. Int J Pow Elec & Dri Syst ISSN: 2088-8694
On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
11
Additionally, the optimal control and optimization problem are also considered in recent time via the work in
[9]-[12]. The sliding mode based control has been paid much attention in recent years because it is a widely
relevant control methodology for uncertain/disturbed systems. SMC as a robust control scheme focuses on
reducing the disadvantage of external disturbances as much as possible based on the design of appropriate
sliding surface as well as implementing the equivalent controller [13]-[21]. An adaptive scheme was
proposed in [22] without any knowledge of the bound on the disturbance and their derivatives. The high
order SMC design was investigated in control system of unicycle under the consideration of uncertainties of
matched and unmatched term [23]. Additionally, the actuator saturation was also considered in sliding mode
control design for space craft systems [24]. The problem of investigating state observers for systems is an
important direction in the control literature. In [25], high-gain observer (HGO) has been investigated since
1980 s by the work of Petersen and Hollot on H infinity control based on the adjusting of appropriate
coefficient to satisfy the linear matrix inequalities (LMIs). Authors in [25] described the development from
the traditional example to differential observability using Taylor expansion with considering the time interval
[𝑡 − 𝑇, 𝑡]. It suggested that the HGO should be designed by intermediate variables obtained from the
differential observability work [25]. Moreover, in recent time, the HGO design for a class of multi-input
multi-output (MIMO) uniformly observable systems were also considered and the extensions of previous
idea were implemented for uncertain nonlinear systems with sampled outputs [15]. The work in [26]
mentioned two problems, including state estimation via Neural Networks and backstepping technique in
dealing with input saturation. It is worth noting that the output feedback control scheme being the framework
of state feedback control and observer was designed using dynamic gain and extended state observer [27].
The fixed-time SMC has been mentioned under the consideration of model separation for Dual-Motor
Driving systems but the separation technique problem was eliminated [28], [29]. However, most of the
previous work in multi-motor drive control systems were not only mentioned to finite time convergence in
SMC technique, but also not cared about influence of elastic and friction. Furthermore, observer design for
tension was only considered as linear approximate model as well as the separation principle has not been
mentioned. In this paper, we consider the LMI based finite-time SMC for multi-motor systems in presence of
elastic, friction as well as the high gain observer technique is determined in our work. It is worth noting that
the SMC based state feedback control scheme guarantees the elimination of disadvantage of disturbance and
uncertainties. Therefore, consideration of using high-gain observer is investigated to compute the tension in
this system and combine with the state feedback control scheme to implement the output feedback controller
guaranteed the separation principle. The stabilization of cascade system is satisfied by the output feedback
control algorithm and shown by theoretical analysis, simulations.
2. DYNAMIC MODEL OF A ROBOT MANIPULATOR AND PROBLEM STATEMENT
As the work described in [30], the model of a multi-motor systems with friction, backlash and
elastic can be represented as (1):
1 1 1
2 2 2
1 1 1 1 1 1 1 1 1 21
1
2 2 2 2 2 2 2 2 2 12
2
12 12 1 1 2 2 12
12
21 12 1 1 2 2 21
12
12
1
. ( ) ( ) ( )
1
. ( ) . ( ) ( )
1
(1 )
.
1
(1 )
.
r L
r L
L c b L
L
L c b L
L
L L
L L
k f k g T r F
K
k f k g T r F
K
F C r r F
C l
F C r r F
C l
y F
= −
= −
= + − +
= + − −
= − +
= − +
=
(1)
In which, the parameters of this system are shown in Table 1. In order to consider the model (1) in
the state space representation, the state variables and control inputs are given to obtain the state space model (2):
1 2 3 4 5 6 1 2 1 2 21 12
T T
L L
x x x x x x x F F
= = ;
1 2 1 2
T T
r r
u u u
= = ;
3. ISSN: 2088-8694
Int J Pow Elec & Dri Syst, Vol. 12, No. 1, March 2021 : 10 – 19
12
1 1 3 2 2 4
3 1 1 1 1 1 1 1 1 5
1
4 2 2 2 2 2 2 2 2 6
2
5 12 1 3 2 4 5
12
6 12 1 3 2 4 6
12
;
1
. ( ) . ( ) ( )
1
. ( ) . ( ) ( )
1
(1 )
.
1
(1 )
.
c b L
L
c b L
L
x u x x u x
x k f x k g x T r x
K
x k f x k g x T r x
K
x C r x r x x
C l
x C r x r x x
C l
= − = −
= + − +
= + − −
= − +
= − +
(2)
Table 1. Dynamic parameter
Paramaters Explaination
J1, J2, JL1, JL2 Motors’s Inertia moment, Loads’s Inertia moment (kgm2
)
𝑇, 𝑇𝐿, ∅𝑟 The torque of Motor, Load (Nm), rotor’s Flux (Wb)
𝐿𝑟 Rotor’s Self-induction (H)
𝑟, 𝑘, 𝜔𝑟, 𝜔, 𝐹
Roller ‘s Radius, velocity ratio, rotor’s electric angle velocity, stator’s angle
velocity, belt tension
ω1, ω2, ωr1, ωr2 The angle velocity of motor, load
c1, c2, b1, b2 The coefficients of Stiffness and friction
∆𝜔1, ∆𝜔2 The errors of angle speeds under the influence of backlash, elastic
Remark 1 : Unlike the description was established in [1]-[4], this work considers multi-motor systems
in presence of nonlinear property, backlash, friction, elastic phenomenon. Therefore, the
transfer-function based approach in [1]-[4] has not been mentioned in this paper due to these
challenges.
The main control objective to find the velocities 1 2
,
r r
obtaining the tracking of state variables
vector 𝑥 = [∆𝜑1, ∆𝜑2, 𝜔𝐿1, 𝜔𝐿2, 𝐹21, 𝐹12]𝑇
. Furthermore, because it is hard to establish the sensors in this
multi-motor system, the controller needs to be added more the state observer obtaining the separation
principle.
For the output feedback control design, the assumptions are introduced as follows:
Assumption 1. The diameter of each motorcycle is negligible compared to length of the conveyor belt of a
multi-motor system.
Assumption 2. The friction and slip coefficients of the conveyor belt of a multi-motor system are constant
and they were not depended on loads, diameter of each motorcycle is negligible compared to
length of the conveyor belt of a multi-motor system.
3. FINITE-TIME OUTPUT FEEDBACK SLIDING MODE CONTROL DESIGN
3.1. Finite-time tracking sliding mode control design
According to the model (3) and Assumption 1, 2, the tracking error model can be obtained as (3):
2 2 5
1 12 1 5 12 2 6
2 2 5
2 12 1 5 12 2 6
3 1 5
4 2 6
5 1 1 3 1 1 3 1 1 2
1
6 2 2 4 2 2 4 2 2 1
2
1
. ( ) . ( ) ( )
1
. ( ) . ( ) ( )
c b L
L
c b L
L
r x x
x C r x C r x
l
r x x
x C r x C r x
l
x u x
x u x
x k f x k g x T r x
K
x k f x k g x T r x
K
= − −
= − −
= −
= −
= + − +
= + − −
(3)
It can be rewritten by:
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On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
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12 1 12 2
1 1
12 1 12 2
2 2
3 3
4 4
1
1
5 5
6 6
2
2
0 0 0 0 . .
0 0 0 0
0 0 0 0 . .
0 0 0 0
0 0 0 0 1 0
1 0 0 0
0 0 0 0 0 1
.
0 1 0 0
0 0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0 0
L
L
C r C r
x x
C r C r
x x
x x
x x
r
K
x x
x x
r
K
−
−
−
−
= +
−
( )
1
2
. ,
0
0
u
u
d x t
+
(4)
where:
1 1 2
T
z x x
= ;
2 3 4 5 6
T
z x x x x
= ; 11
0 0
0 0
A
=
;
12 1 12 2
12
12 1 12 2
0 0
0 0
C r C r
A
C r C r
−
=
−
1
21
1
2
2
0 0
0 0
0
0
L
L
r
A
K
r
K
−
=
; 22
0 0 1 0
0 0 0 1
0 0 0 0
0 0 0 0
A
−
−
=
2
1 0 0 0
0 1 0 0
0 0 0 0
0 0 0 0
B
=
; 1
0 0 0 0
0 0 0 0
B
=
( )
1 1 3 1 1 3 1
2
2
1
2 2 4 2 2 4 2
2
0
0
1
. ( ) . ( )
,
1
. ( ) . ( )
c b L
L
c b L
L
k f x k g x T
d z t
K
k f x k g x T
K
+ −
=
+ −
therefore, the tracking error model (4) can be represented as:
( )
12 1 12 2
1 1 2
12 1 12 2
1
2 1 2 2 2
2
1
2
2
0 0
0 0
0 0
0 0
0 0
0 0 1 0
0 0
0 0 0 1
0 ,
0 0 0 0
0 0 0 0
0
L
L
C r C r
z z z
C r C r
r
z z z B u d z t
K
r
K
−
= +
−
−
−
−
= + + +
(5)
Consider the sliding variable ( ) ( )
12 1
T
s e e A P e
= − (6)
where z
ref
e z
= − and ( )
1
1 1
e e
−
= − ,
H I
= ,
the finite time sliding mode control law is proposed as described in the following Theorem 1.
Theorem 1: Consider the system (5) with the disturbance (𝑑2(𝑧, 𝑡)) being bounded by 2
d and the SMC is
given as;
𝑢(𝑡) = 𝑢𝑛(𝑡) − 𝐵2
−1
𝑢𝑠(𝑡) (7)
in which ( )
( )
1
1
2 12
T
d
n
d e
u t B Az A P z
dt
−
= − − −
, ( ) ( )
( ) ( )
( ) ( ) ( )
2 sgn sgn
s
u t d s e s e s e s e
= + + , ;
are
the positive constant numbers. The proposed SMC enables us to obtain the finite-time Input State Stability
(ISS) stability.
Proof : The Proof is divided into two steps.
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In Step 1, we prove that the closed system reaches to the sliding surface in finite time:
Based on the Lyapunov candidate function using the sliding variable as:
( )
( ) ( ) ( )
2
1
2
T
V s e s e s e
= (8)
taking the time derivative of this Lyapunov function along the systems (5), we obtain:
( )
( ) ( ) ( ) ( )(
( )
( ))
( )
( )
( )
1
1 2 1 2
2 1 12 21 22 2 2
1
12 2 2
,
= s ,
T T T
d d
T T
d
dg e
V s e s e s e s e Hz A P A z A z B u H z z d z t
dt
dg e
e Az A P B u z d z t
dt
= = − + + + − − +
− + − +
(9)
substituting (7) into (9) gives:
( )
( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( )
2
2 2
sgn
sgn ,
T T
T T
V s e s e s e s e s e s e
s e d s e s e d z t
= −
− +
(10)
according to ( )
( )
2 2 x
, ma
d d z t
, we have:
( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
( )
2
2 1
2 min min 2 2 2 2
V s e s e s e V s e V s e
+
− − = − − (11)
Choose ( ) ( )
( ) ( )
1 /2
2 min 2 min 2
2 0, 2 0, 1 / 2 1
+
= = = + , according to the inequality (11),
the closed system reaches to sliding surface in finite time given as (12):
( )
( )
( )
( ) 2
1
2 2 0 2
2
2 2 2
1
ln
1
r
V s e t
t
−
+
=
−
(12)
where
( )
( )
( ) ( ) ( )
( ) ( )
( )
2 0 0 0
1/ 2 T
V s e t s e t s e t
= (13)
In Step 2, once the closed system trajectory reaches the sliding surface, the errors converge to
attraction region in finite time. Consider the closed system in the sliding surface ( ) ( )
12 1 0
T
s e e A P e
= − = .
Choose and k are constant coefficients, in which (t) ;
f e k
. The parameters 0
, 1 0
và
2 0
and the matrices 0, 0, 0, 0
X Q W G
and Y are chosen to satisfy the following Linear
Matrix Inequalities (LMIs):
11 11 12 12
0
T T T
A X XA A Y Y A Q X
X W
+ − − +
−
(14)
12 12
2
0
T
A A X
X G
−
(15)
1 2 2 0
I Q
− (16)
2 2 2 0
I W
− (17)
2
1 2
2
0
k
− (18)
6. Int J Pow Elec & Dri Syst ISSN: 2088-8694
On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
15
Then the system (5) is stabilized in finite time with the attraction region ( )
1
e t k
. The Proof is
similarly implemented as above step with the corresponding Lyapunov Function 1
1 1 1 1
( ) ,
T
V e e Pe P X −
= =
3.2. High-gain observer control design of multi-motor systems
As described in [25], it is hard to find the observer for multi-output systems because the data
collection needs to be implemented in the sufficiently small interval as well as employing the taylor series
approximation. Therefore, the high-gain observer was proposed by [15] enabling us to deal with multi-output
systems. Consider the class of nonlinear uniformly observable systems:
( )
1
,
z f u z
y Cz z
= +
= =
(19)
where the state variables n
z R
with 1 2
1
; 1,2,3,...., ; ... ;
k
n
n
k
q k
k
z R k q n n n n n
=
= =
, the input u U
is a
compact set of Rm
, the output variables 1
n
y R
.
( ) 1 1 2 1
1 2
1
1
1 2 3
2
2
1
1
(u,z ,z ) 0
(u,z ,z ,z )
; , ; 0 ; ,0 ,...,0
(u,z)
0
q
n n n n n
q
q
q
q
f
z
f
z
z f u z C I
f
z
−
−
= = = =
1 1 2 1
,0 ,...,0 q
n n n n n
C I
=
This above system also satisfies several assumptions as described in [15]. It is hard to find directly
the High-Gain observer for model (19), so that it can be transferred into the following form to easier design
based on the transformation as follows:
1
2
1
1
1
1 2
1
(.) 1 2 3
2
0 0
2
(.)
1
1
(u,z ,z )
(u,z ,z ,z )
: , (z)
(u,z)
k
k
f
n q
n z
q
f
q
z
i
z
f
f
z
f
+
−
−
=
→ = =
; We imply
0
1
(u, ) z
A
y C
= + +
= =
and continue to find
the intermediate observer [15]:
1 1 1 1 1 1
ˆ ˆ ˆ ˆ
(u, ) (u, )
T T
A S C S C
− − − − − −
= + − − . Because 1
0 A A
−
= và 0
C C
= then employing
0
= , we obtain the dynamic equation of observer errors:
1 1 1
0
ˆ ˆ
(A S C C) ( (u, )) (u, )
T T
C
z
− −
= − + − −
. In order to analyze the observer errors,
selecting the candidate function 1( ) T
V S
= , take the derivative of this function along the system
trajectory of transformed systems:
2 1 0 0
1 1 0
min
ˆ
(u, ( ))
2 (S)
(s)
c
V V
z
− + + +
where x
min
(s)
(S)
(s)
ma
=
based on the work in [15], we imply that:
( ) 2
1 1 1 1
1
q
c
V c V V
−
− − + (20)
the fact that is the following selections: 1
1 1 1
1 1
(I , I ,..., I )
q
n n n
blockdiag
−
=
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ˆ
(z)
+
is the left inverse of block diagonal matrix ˆ
(z)
with
1
1 2 1
1
2 1
1
ˆ
ˆ ˆ (u,z)
(u,z ,z )
ˆ
(z) blockdiag , ,...,
ˆ ˆ
q
k
n k
i
f
f
I
z z
−
+
=
=
where S is the positive definite solution of the algebraic
Lyapuov equation (21):
0
T T
S A S SA C C
+ + − = (21)
comeback to the model (19), the equivalent observer can be determined as (22):
1 1
ˆ
(z)
ˆ ˆ ˆ ˆ
ˆ ( ) f(u,z) (z) (z z)
T
z S C C
z
+
+ − −
= = − −
(22)
although implementing the observer intermediately, we still obtain the direct result (23):
1
1
2 1
2 2
1 1
1
1
1
(u,z)
ˆ
(z)
(u,z)
q
n
q
T
q
q q k
q k
i
C I
f
C
x
S C
f
C
z
+
+ − −
+
−
+
=
=
(23)
where 1
1
2
(i, j) ( 1)i j j
i j n
S C I
+ −
+ −
= − with
!
;1 i, j q
!(j i)!
i
j
j
C
i
=
−
in order to find control design appropriate HGO for multi-motor systems (1), we need to implement
alternately:
Consider the following multi-motor systems:
1 2
2 1 1 2 2 1 3
3 12 1 21 2 22 3
12
3
1
( )
1
( ) K ( ) ( ) (T . )
1
(1 )
.
L C L
TC
x u x
T
x J f x u x f x r x
K
x C r x r x x
C l
y x
= −
= + − − +
= − +
=
where
31
11 1 21 1 21
2 2 2
1 2 3
12 2 22 2 32 12
; ;
r
r
x
x x F
x x x
x x x F
= = = = = =
according to the result (22), we obtain the equivalent observer:
1 2 3 3
2
2 1 1 2 2 1 3 3 3
3
3 12 1 21 2 22 3 3 3
12
3
1
ˆ ˆ ˆ
(u x ) 3 (x )
1
ˆ ˆ ˆ ˆ ˆ ˆ
( ) K ( ) ( ) (T . ) ( )
1
ˆ ˆ ˆ ˆ ˆ
(1 ) ( )
.
y
L C L
TC
L
x x
T
x J f x u x f x r x x x
K T
x C r x r x x rJ x x
C l
x
= − − −
= + − − + + −
= − + + −
=
(24)
8. Int J Pow Elec & Dri Syst ISSN: 2088-8694
On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
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4. OFFLINE SIMULATION RESULTS
To clearly validate the efficacy of the proposed output feedback control scheme, a multi-motor
driving system is established in Figure 1, which shows the physical meaning of parameters as well as the
completed control system. The simulation results in Figures 2 and 3 describe the behavior of tension and
velocities when the load is changed from TL1=100 Nm to TL2=50 Nm. It should be noted that the comparison
between the response using proposed solution and the classical approaches has been investigated.
Furthermore, the simulation results in Figure 4 show the response of proposed high gain observer in Multi-
Motor systems.
Figure 1. The structure of multi-motor control system
(a) (b)
Figure 2. (a) The response of tension PID with the load variation (b) The response of tension LMI-SMC with
the load variation
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(a) (b)
Figure 3. (a) The response of speed PID with the load variation (b) The response of speed LMI-SMC with the
load variation
(a) (b)
Figure 4. The response of observer, (a) tension observer, (b) speed Observer, with gear gap 𝛼=0.15 rad
(8,590
)
5. CONCLUSION
To deal with the multi-motor systems in presence of nonlinear property, backlash, elastic, the finite
time sliding mode controller combining with high gain observer is developed in this work. The convergence
time of SMC is clearly estimated by LMI technique and the observer is dealt with multi-output systems. The
proposed controller is validated via simulations in comparison with existing solution.
ACKNOWLEDGEMENTS
This research was supported by Research Foundation funded by Thai Nguyen University of Technology.
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