Journal
EUROPEAN JOURNAL OF CONTROL
Volume 14, Issue 1, Pages 16-29Publisher
ELSEVIER
DOI: 10.3166/EJC.14.16-29
Keywords
gain-scheduling control; LPV modelling; mechatronic systems; model interpolation; motion control
Categories
Ask authors/readers for more resources
This paper presents a technique to identify an affine parameter-dependent model based on a set of Linear Time-Invariant (LTI) models that are identified in local operating points of the varying system. The systems under investigation are mechatronic systems in which the dynamic behaviour is depending on a single varying parameter. By fitting specific pole and zero loci on the poles and Zeros of the local LTI models, an affine state-space model can be constructed. Since the resulting affine model is well conditioned and has a loll, complexity, it is suitable to be used for Linear Parameter-Varying (LPV) control. The applicability of the presented technique is shown on an industrial pick-and-place machine with position-dependent dynamics.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available