Abstract
A nonlinear quadratic Gaussian with loop transfer recovery control method called NQG/LTR method is presented, which is the integration of statistical linearization, loop-shaping and loop transfer recovery techniques. The proposed NQG/LTR method is a powerful one for designing controllers of nonlinear systems with hard nonlinearities such as Coulomb friction, backlash and dead-zone. In order to show the effectiveness of the proposed method, the LQG/LTR and NQG/LTR methods are applied to a timing-belt driving cart system with Coulomb friction and dead-zone. The results of simulation and experiment for a cart system show that the performance and stability robustness of the NQG/LTR control system are insensitive to the effects of the nonlinear elements of a cart system.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call