Download e-book for iPad: Algebraic Identification and Estimation Methods in Feedback by Hebertt Sira-Ram?rez, Carlos Garc?a Rodr?guez, John Cortés

By Hebertt Sira-Ram?rez, Carlos Garc?a Rodr?guez, John Cortés Romero, Alberto Luviano Ju?rez

ISBN-10: 1118730607

ISBN-13: 9781118730607

Presents a model-based algebraic method of online parameter and kingdom estimation in doubtful dynamic suggestions keep watch over systems

Algebraic identity and Estimation equipment in suggestions keep an eye on Systems provides the model-based algebraic method of online parameter and country estimation in doubtful dynamic suggestions keep watch over platforms. This procedure evades the mathematical intricacies of the conventional stochastic procedure, providing an instantaneous model-based scheme with a number of, effortless to enforce, computational benefits. This publication includes many illustrative, instructional type, built examples of the lately brought algebraic technique for parameter and nation estimation in quite a few actual platforms of constant, and discrete, nature. The advancements comprise a few laboratory experimental ends up in numerous components on the topic of mechatronics structures. The reader, with an engineering point mathematical historical past and during the various expository examples, might be in a position to grasp the use and comprehend the results of the hugely theoretical differential algebraic point of view up to speed structures theory.

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Additional info for Algebraic Identification and Estimation Methods in Feedback Control Systems

Example text

The entire purpose of applying such a force to the mass is to gather some input–output information so that we can identify the unknown mass parameter m. The mass is initially placed at a distance x0 from the origin, that is, x(t0 ) = x0 with an initial velocity x(t ̇ 0 ) = ẋ 0 . The model itself suggests that a relation for m may be obtained by integrating the equation twice, from the initial instant t0 , and using the fact that m is constant. 2) It is clear from this last relation that a new piece of information becomes necessary: x(t ̇ 0) = ẋ 0 , the initial velocity.

84, with I(t) as control input (this eliminates the piecewise constant Coulomb friction term). Multiply out by t 3 the resulting expression and integrate by parts four times (this achieves independence from initial conditions and introduces some invariant filtering). Finally, solve for ????. 1 m/s ̂ 2, K∕m = 2 m/s ̂ 2 The design parameters for the GPI controller were set to be such that the closed-loop characteristic polynomial p(s) = s4 + k3 s3 + k2 s2 + k1 s + k0 coincided with pd (s) = (s2 + 2???? ????n s + ????2n )2 with ???? = 1, ????n = 60.

Mboup, M. Pereira-Gonzalez, E. and Feliu, V. (2008) On-line frequency and damping estimation in a single-link flexible manipulator based on algebraic identification. 16th Mediterranean Conference on Control and Automation, 2008, pp. 338–343, Ajaccio Corsica, France. Villagra, J. d’Andrea Novel, B. Fliess, M. and Mounier, H. (2008) Estimation of longitudinal and lateral vehicle velocities: An algebraic approach. Proceedings of the American Control Conference, 2008, pp. 3941–3946, Seattle, WA. Wiener, N.

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Algebraic Identification and Estimation Methods in Feedback Control Systems by Hebertt Sira-Ram?rez, Carlos Garc?a Rodr?guez, John Cortés Romero, Alberto Luviano Ju?rez


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