Output feedback controller using the singular perturbation method in the presence of sensor noise

2013 ◽  
Author(s):  
Gwang Tae Kim ◽  
Hyun-Wook Jo ◽  
Jong-Tae Lim
Keyword(s):  
Singular Perturbation ◽  
Perturbation Method ◽  
Output Feedback ◽  
Feedback Controller ◽  
Sensor Noise ◽  
Singular Perturbation Method ◽  
Output Feedback Controller

Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System

2012 ◽  
Vol 24 (2) ◽  
pp. 354-362 ◽  
Author(s):  
Hirokazu Tanaka ◽  
◽  
Hiroshi Kaminaga ◽  
Yoshihiko Nakamura
Keyword(s):  
Feedback Control ◽  
Knee Joint ◽  
Singular Perturbation ◽  
Perturbation Method ◽  
Feedback Controller ◽  
Control Methods ◽  
Haptic Interaction ◽  
Singular Perturbation Method ◽  
Human Movements ◽  
Pressure Feedback

This paper describes control methods of an Electro-Hydrostatic Actuators (EHA) for an exoskeletal power-assist systems. By increasing backdrivability of the electro-hydrostatic actuators, the exoskeletal power-assist systems can achieve haptic interaction with a human. We propose a pressure feedback controller based on singular perturbation method, which is used in a power-assist controller of the exoskeletal power-assist system. The controller assists human movements by increasing the sensitivity of the electrohydrostatic actuator with estimated torque feedback. The controllers were implemented on an exoskeletal power-assist system for a knee joint with an electrohydrostatic actuator. Their efficacy was evaluated by experiments.

Robust H2 Output Feedback Controller Design for Damping Power System Oscillations

2017 ◽  
Vol 6 (10) ◽  
pp. 8
Author(s):  
Kho Hie Kwee ◽  
Hardiansyah .
Keyword(s):  
Power System ◽  
Output Feedback ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Worst Case ◽  
Output Feedback Controller ◽  
Power System Oscillations

This paper addresses the design problem of robust H2 output feedback controller design for damping power system oscillations. Sufficient conditions for the existence of output feedback controllers with norm-bounded parameter uncertainties are given in terms of linear matrix inequalities (LMIs). Furthermore, a convex optimization problem with LMI constraints is formulated to design the output feedback controller which minimizes an upper bound on the worst-case H2 norm for a range of admissible plant perturbations. The technique is illustrated with applications to the design of stabilizer for a single-machine infinite-bus (SMIB) power system. The LMI based control ensures adequate damping for widely varying system operating.

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