Browsing by Subject "Linear controllers"

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    Reduced-order model-based feedback controller design for subsonic cavity flows
    (American Institute of Aeronautics and Astronautics, 2005-01) Yuan, X.; Caraballo, E.; Yan, P.; Özbay, Hitay; Serrani, A.; DeBonis, J.; Myatt, J. H.; Samimy, M.
    This paper explores feedback controller design for cavity flows based on reduced-order models derived using Proper Orthogonal Decomposition (POD) along with Galerkin projection method. Our preliminary analysis shows that the equilibrium of the POD model is unstable and a static output feedback controller cannot stabilize it. We develop Linear Quadratic (LQ) optimal state feedback controllers and LQ optimal observers for the linearized models. The linear controllers and observers are applied to the nonlinear system using simulations. The controller robustness is numerically tested with respect to different POD models generated at different forcing frequencies. An estimation for the region of attraction of the linear controllers is also provided.
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    Tracking and regulation control of a 2-DOF robot arm with unbalance
    (IEEE, 2012-08) Güler, Samet; Özgüler, A. Bülent
    Servomechanism synthesis for a two degree-of-freedom robot arm assembled on a vessel and affected from sea disturbances is considered. Dynamic equations of the robot arm with unbalance and of an approximate base disturbance model are derived. Direct linear controller synthesis based on a linearized model is then studied. It is shown that, although the plant model is nonlinear, linear controller that is synthesized based on the "internal model principle" provide good performance and perform better than the commonly used PID controllers. © 2012 IEEE.