An entire strategy for precise system tracking control of a revolving thinflexural link, part I: Finite element modeling and direct tuning controller design

An entire control strategy including a design based model, controller desig n, and system output modification for a distributed parameter system is ill uminated by application to feedback control of a revolving thin flexural li nk. In Part I, a very realizable actuator and a sensor, which uses a motor and a tachometer, are applied to design the control system. The finite elem ent modeling and the state space representation are obtained for the purpos e of control system analysis and computer simulation. Instead of relying on parameter identification subroutines, a controller design based on directl y tuning the parameter of the gain makes the closed-loop absolutely stable and good for system tracking control. This control system design scheme is robust, insensitive to system parameter changes, and this algorithm cannot depend on traditionally prion: knowledge such as the system dimension, exac t model, or observer design. The performance included in the presence of al l the high frequency dynamics can be effectively shown through the computer simulation, and one is led to speculate that this design scheme may perfor m quite well in the real world implementation. (C) 1999 Elsevier Science Lt d. All rights reserved.