Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 45 for “"Nonlinear Controller"”.
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Nonlinear controller design from Plant data
In this thesis, data-based controller design methods for nonlinear process systems are developed. In the Just-in-Time learning (JITL) modeling framework, which is capable of modeling the dynamic systems with a range of operating regimes, four adaptive control strategies are proposed. These …
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Design of a state-based nonlinear controller
… which are used to design and implement PI controllers at some operating points of nonlinear industrial processes. In general, the algorithm should be applicable to multivariable plant models which may be nonlinear. In some areas there is a hesitancy to use controllers for nonlinear …
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Robust nonlinear controller based on set propagation
A novel control method, based on interval analysis, that optimises the control surface (or u-surface) for sampled systems with output disturbances is demonstrated on a driven pendulum with actuator constraints. The fitness function to be maximized is the probability of each state of the system …
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Nonlinear Controller Design and Implementation for a Magnetic Levitation System
<p>In this study, an approach is presented to nonlinear control of a magnetic levitation system using artificial neural networks (ANNs). Two neural networks, the multi-layer perceptron (MLP) and the single multiplicative neuron (SMN), are investigated in this work. A novel form of ANN, namely, …
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Nonlinear Controller Design for UAVs with Time-Varying Aerodynamic Uncertainties
… presents a novel, comprehensive, step-by-step, nonlinear controller design framework for new generation, non-conventional UAVs with time-varying aerodynamic characteristics during flight. Controller design for such UAVs is a challenging task mainly due to uncertain aerodynamic parameters in the …
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Control Design for a Non-Minimum Phase Hypersonic Vehicle Model
… challenges for control design. In this thesis, a nonlinear controller for a hypersonic vehicle model is designed using the Indirect Manifold Construction approach. The high fidelity hypersonic vehicle model considered in this thesis includes many of the challenging effects of hypersonic flight. …
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Modeling and Control of Plate Mill Processes
… output introduces stability problems. A nonlinear multivariable model for the thickness control system is derived. The parameters of the model for the rolling mill are identified using data from The Danish Steel Works Ltd. and the model is used for designing a nonlinear multivariable …
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Adaptive, suboptimal and nonlinear control of an aeroelastic system
… are designed for the flutter control of a nonlinear aeroelastic system. The aeroelastic model describes the plunge and pitch motion of a wing. The model includes plunge and pitch nonlinearties, and has a single control surface for the purpose of control. First an output feedback modular …
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System modeling and control design of a two-stage metering poppet-valve system
… circuit. First, this system is modeled as a nonlinear open-loop model as well as a linear one. The completely linear form of the flow force acting on the poppet head is derived from simplified Navier-Stokes Equations. Second, four control methods that comprise modified PI control, LQG …
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Design and application of advanced control methods to gas turbines and networked systems
… to the gas turbine engine control. Due to the nonlinearities of the gas turbine engines, the rate limiter and saturation constraints on the fuel feed, the aim is to illustrate the potential of a global nonlinear controller to cover the engine operating range. Several nonlinear control methods, …
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Biologically inspired attitude control of robotic systems using center of gravity reallocation
… respect to the center of pressure (CP) using nonlinear closed-loop feedback. In the case of flying machines, CoM reallocation leads to the change in CG-CP distance of the system. In the case of robots with no aerodynamic surfaces, CoM reallocation leads to manipulating the torques produced by …
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A numerical study of Witsenhausen's Counterexample
… condition for optimality of the Stage I controller in the system. Using finite element (FE) analysis, we develop a numerical framework to study this integral equation and understand the structure of optimal controllers. We then solve the integral equation as a mathematical optimization …
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Nonlinear PID controller
An algorithm to design simple gain scheduled nonlinear PID controllers for nonlinear plants is investigated. Design information is obtained from measurements of the nonlinear plant about selected equilibrium points. Simulations are performed on two different nonlinear CSTR models. The first …
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Maneuvering Control of a Spacecraft with Propellant Sloshing
… the coupled equations of motion, several linear controllers are developed to achieve planar spacecraft pitch-maneuvers while suppressing the slosh mode. The performance of these linear controllers will be compared to that of a nonlinear controller developed using Lyapunov’s Second Method. It is …
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Nonlinear control strategies for quadrotors and CubeSats
… in two parts. In the first part, a fully nonlinear controller is developed for controlling the position and attitude of the Crazyflie quadrotor. In order to use this controller, a system identification is first performed in order to completely model the dynamics of the Crazyflie quadrotor. …
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L(1)-Optimal Control Using State Space, Controlled Invariance Based Methods
… to produce a memoryless periodically varying nonlinear controller, which achieves near-optimal performance. The controlled invariance based solution method is also generalized to linear multirate systems (LMR) systems. As the structure of multirate systems inherently precludes access to the …
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Practical Challenges in the Method of Controlled Lagrangians
… are appealing as they retain the underlying nonlinear dynamics and can provide stability results that hold over larger domain than can be obtained using linear design and analysis. The objective of this dissertation is to identify the control challenges in applying the method of controlled …
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Spline based controller for nonlinear systems
… thesis is to apply spline theory to implement controllers for nonlinear systems. Two different systems, forced Duffing oscillators and power systems, are investigated. The spline method is used to mimic the controller which drives a state of the Duffing system toward a desired path. The …
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Incorporating global information into local nonlinear controllers
… evaluated at the equilibrium point. For a linear controller, the derivatives are equal to the state-feedback gains and the gains on the external inputs. These gains can be changed to vary the local performance of the system. An extended-linear controller links together the desired local …
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Decoupling and adaptive control and stabilization of two-link elastic robotic arm
… arm is considered. The first scheme is based on nonlinear inversion, a nonlinear controller is designed for the trajectory control of the joint angles using joint torquers. The inverse controller includes a servocompensator for robustness. A simplified controller has also been designed neglecting …
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