Abstract
Control of a coupled-drives apparatus laboratory model as a two-input-two-output system is presented. Control algorithms based on polynomial theory and pole assignment methods are proposed. Three control algorithms are implemented and compared. Both one-degree-of-freedom and two-degree-of-freedom control system configurations were used. Problems of decoupling, where compensators suppress the interactions between control loops, were also solved. Adaptive algorithms were used to control the model. The recursive least-squares method with directional forgetting was used for the identification process. The results of real-time experiments are also included.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
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