Title:	Robust Controller Design for Feedback Architectures with Signal Shapers
Authors:	Goubej, Martin Schlegel, Miloš Tomáš, Vyhlídal
Citation:	GOUBEJ, M. SCHLEGEL, M. TOMÁŠ, V. Robust Controller Design for Feedback Architectures with Signal Shapers. In IFAC PapersOnline. Amsterdam: Elsvier, 2020. s. 8650-8655. ISBN: neuvedeno , ISSN: 2405-8963
Issue Date:	2020
Publisher:	Elsvier
Document type:	konferenční příspěvek ConferenceObject
URI:	2-s2.0-85104929579 http://hdl.handle.net/11025/47121
ISSN:	2405-8963
Keywords in different language:	Input shaper;H-infinity norm;robust control design;time delay system
Abstract in different language:	Available feedback architectures with time delay based signal shapers are outlined and studied with the objective to determine the channels in which the flexible mode compensation (by the shaper) takes place. As the main result, a systematic methodology for the robust controller design is proposed and tested for three most common feedback architectures with signal shapers. The validation is performed on a Gantry crane anti-sway problem, considering four types of distributed delay shapers. It is demonstrated that for the selected robustness H-infinity measure, the applicable parameter range is considerably reduced by placing the signal shaper to the loop. Still, the obtained characteristics and responses of shaper feedback architectures show that viable controller setting can well be found by the considered control design method.
Rights:	© Elsevier
Appears in Collections:	Konferenční příspěvky / Conference Papers (KKY) OBD

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