| Title |
Robust Model-Following Controller for Uncertain Dynamical Systems by State-Space Representation |
| Authors |
박병석(Park, Byung-Suk) ; 윤지섭(Yoon, Ji-Sup) ; 강이석(Kang, E-Sok) |
| Keywords |
Time delay control ; Sliding mode control ; 2-DOF ; Robust ; Model-following ; Overhead crane |
| Abstract |
It is hard to obtain good robust performance and robust stability for uncertain and time-varying system. The robust 2-DOF controller is frequently used to obtain the desired response and the good robustness. Two controllers can be independently designed. Generally, one controller reduces sensitivity to parameter variations, nonlinear effects, and other disturbances. On the other hand, the other controller reduces the error between the desired command and output. In this paper, the various robust perfect MFCs(model-following controllers) combined with TDC(Time Delay Control) are designed, and the imperfect stable MFC combined with TDC and SMC(Sliding Mode Control) is proposed. These controllers are based on the method of designing robust 2-DOF controllers for dynamic system with uncertainty. The performance of the proposed imperfect sable MFC has been evaluated through computer simulations. The simulation results indicate that the proposed controller shows the excellent performance characteristics for an overhead crane with uncertain and time-varying parameters. |