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Channel-by-Channel AW Features
KD
KD
ylin
+
um
GD
Figure : Channel-by-channel AW
X
(2)
(s) =
ND(s)
I Idea is to design m single-channel AW compensators for each Gi(s) in GD(s)
to ensure stability of the overall nonlinear system.
I Using process in [1], a linear programming solution is presented, such that
. If diagonal matrices W > 0 and V > 0 such that V = X0WX exists, AW
compensators can be designed using the LMI in [2]
I Result is structured and easy to implement with great practical appeal. Note:
[MD, ND] [diag(Mi(s)), diag(Ni(s))]
(u)
u
X1
ulin
GD
ud
yd
GD
A + BF B
M(s) I
0
(s) =
F
N(s)
C + DF D
I G has right coprime factorisation G(s) = N(s)M1(s). F is chosen so that
A+BF is Hurwitz.
I A stable system with F can be obtained by satisfying the LMI described in [2]
Psuedo-Decentralized AW Features
KD
ylin
yd
vm
vd
+
+
Desired Pitch
Actual Pitch Saturated no AW
15
15
10
10
10
10
15
15
20
20
25
1.06
1.08
1.1
1.12
1.14
1.16
1.18
Time in milliseconds
25
1.2
7.2
7.4
7.6
7.8
x 10
20
8.2
8.4
4
x 10
20
Desired Pitch
Actual Pitch Saturated with AW
Desired Pitch
Actual Pitch Saturated with AW
15
15
10
10
10
10
15
15
20
20
25
Time in milliseconds
1.08
1.1
1.12
1.14
Time in milliseconds
1.16
25
1.18
5
x 10
2.38
2.4
2.42
2.44
Time in milliseconds
2.46
2.48
2.5
5
x 10
Conclusion
(v)
vlin
20
Desired Pitch
Nominal Pitch
20
Pitch in degrees
um
Pitch in degrees
KD
Pitch in degrees
Pitch in degrees
GD
1
1
1
LDX
X UD X
0
He
<0
(1)
0
0
2I 0
http://www2.le.ac.uk/departments/engineering/research/control