Identification for robust control of complex systems : algorithm and motion application

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2 Citaten (Scopus)
9 Downloads (Pure)

Samenvatting

Increasing performance demands in control applications necessitate accurate modeling of complex systems for control. The aim of this chapter is to develop a new system identification algorithm that delivers models that are suitable for subsequent robust control design and can be reliably applied to complex systems. To achieve this, an identification algorithm is developed that delivers a system model in terms of recently developed coprime factorizations and thereby extends classical iterative procedures to the closed-loop case. These coprime factorizations have important advantages for uncertainty modeling and robust controller synthesis of complex systems. A numerically optimal implementation is presented that relies on orthonormal polynomials with respect to a data-dependent discrete inner product. Experimental results on a nanometer-accurate positioning system confirm that the algorithm is capable of delivering the required coprime factorizations and the implementation is numerically reliable, which is essential for complex systems as common implementations suffer from severe ill-conditioning.
Originele taal-2Engels
TitelControl-Oriented Modelling and identification : Theory and Applications
RedacteurenM. Lovera
Plaats van productieLondon
UitgeverijInstitution of Engineering and Technology (IET)
Pagina's101-124
ISBN van elektronische versie978-1-84919-615-4
ISBN van geprinte versie978-1-84919-614-7
DOI's
StatusGepubliceerd - 2015

Publicatie series

NaamIET control engineering series
Volume80

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  • Citeer dit

    Oomen, T. A. E., & Steinbuch, M. (2015). Identification for robust control of complex systems : algorithm and motion application. In M. Lovera (editor), Control-Oriented Modelling and identification : Theory and Applications (blz. 101-124). (IET control engineering series; Vol. 80). Institution of Engineering and Technology (IET). https://doi.org/10.1049/PBCE080E_ch5