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Mikulas Huba
P and PD Pole Assignment Controllers for Constrained Systems
This paper considers two new methods for the pole assignment controller design for constrained systems with dominant 2nd order dynamics. Both methods yield simple and reliable results that are appropriate especially for controlling unstable systems and systems with high quality requirements related simultaneously to the transient responses and to the steady states. It is shown firstly that in controlling the 1st order systems the limitation of the control signal does not lead to any parasitic effects like overshooting or instability. Therefore, in the case of higher order systems it is proposed to split the overall dynamics into several partial 1st-order ones. For specified real closed loop poles solution to this problem is possible, but not unique. In the case of complex poles another approach is used. Via an appropriate reference signal shaping the actual state space trajectory is driven towards the specified braking trajectory. Influence of the always-present time delays is then achieved by using a simple gain scheduling. By combining constrained controller design for the double integrator systems with approximation of the controlled plant using the double integrator + dead-time, or the double integrator + time constant models one gets a reliable tuning method that can be considered as extension of the well-known method by Ziegler and Nichols.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 53, 06/2005
Pages: 273 - 284