State Feedback Control Solutions for a Mechatronics System with Variable Moment of Inertia

Alexandra-Iulia Szedlak-Stinean, Radu-Emil Precup, Stefan Preitl, Emil M. Petriu, Claudia-Adina Bojan-Dragos

Abstract

This paper presents details regarding the design of two state feedback control (SFC) solutions for the position control of a mechatronics application represented by the Model 220 Industrial Plant Emulator. Since SFC is not effective in terms of zero steady-state control error, the SFC structure of both solutions is inserted in a control loop that contains a PID controller with or without low-pass filter. This leads to the two SFC solutions proposed in this paper and dedicated to mechatronics applications with variable moment of inertia. The PID controllers are tuned by the Modulus Optimum method to ensure high control system performance expressed as increased phase margins and improved tracking performance. The performance of the proposed SFC solutions is illustrated by case studies that deal with experimentally identified parameters in two situations, rigid body dynamics and flexible drive dynamics. Simulation and experimental results obtained for the three significant values of the moment of inertia of the load disk are given.

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Paper Citation


in Harvard Style

Szedlak-Stinean A., Precup R., Preitl S., Petriu E. and Bojan-Dragos C. (2016). State Feedback Control Solutions for a Mechatronics System with Variable Moment of Inertia . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 458-465. DOI: 10.5220/0005988904580465


in Bibtex Style

@conference{icinco16,
author={Alexandra-Iulia Szedlak-Stinean and Radu-Emil Precup and Stefan Preitl and Emil M. Petriu and Claudia-Adina Bojan-Dragos},
title={State Feedback Control Solutions for a Mechatronics System with Variable Moment of Inertia},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={458-465},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005988904580465},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - State Feedback Control Solutions for a Mechatronics System with Variable Moment of Inertia
SN - 978-989-758-198-4
AU - Szedlak-Stinean A.
AU - Precup R.
AU - Preitl S.
AU - Petriu E.
AU - Bojan-Dragos C.
PY - 2016
SP - 458
EP - 465
DO - 10.5220/0005988904580465