This paper presents a control design methodology that provides a prescribed degree of stability robustness for plants characterized by discontinuous (i.e., switching) dynamics. The proposed control methodology transforms a discontinuous switching model into a linear continuous equivalent model, so that loop-shaping methods may be utilized to provide a prescribed degree of stability robustness. The approach is specifically targeted at pneumatically actuated servo systems that are controlled by solenoid valves and do not incorporate pressure sensors. Experimental demonstration of the approach validates model equivalence and demonstrates good tracking performance.
Control Design for Relative Stability in a PWM-Controlled Pneumatic System
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division June 17, 2002; final revision, December 27, 2002. Associate Editor: N. Manring.
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Barth, , E. J., Zhang, and , J., and Goldfarb , M. (September 18, 2003). "Control Design for Relative Stability in a PWM-Controlled Pneumatic System ." ASME. J. Dyn. Sys., Meas., Control. September 2003; 125(3): 504–508. https://doi.org/10.1115/1.1591810
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