This paper presents the design of tracking controllersfor piecewise linear systems, with application to sheetcontrol in a printer paper path. The approach that we will take is based upon an error space approach, which is derived from linear systems theory. We will show that due to the discontinuity in the piecewise linear system, the resulting model in error space consists of both flow conditions, describing the dynamics in each regime, and jump conditions, describing the errordynamics at the switching boundaries. Two types of controllers are proposed that result in either full or partial linearization of the closed-loop error dynamics. To show the effectiveness of the control design approach in practice, the sheet controllersare implemented on an experimental paper path setup.
|Title of host publication||Proceedings of the 2008 American Control Conference (ACC2008), Seattle, Washington, USA, June 11-13, 2008|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2008|