A Formal sensitivity analysis for laguerre based predictive functional control
A Laguerre Predictive Functional Control (LPFC) is a simple input shaping method, which can improve the prediction consistency and closed-loop performance of the conventional approach (PFC). However, it is well-known that an input shaping method, in general, will affect the loop sensitivity of a sys...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English English English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2018
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/75753/ http://irep.iium.edu.my/75753/ http://irep.iium.edu.my/75753/ http://irep.iium.edu.my/75753/1/75753_A%20Formal%20Sensitivity%20Analysis%20for%20Laguerre_complete.pdf http://irep.iium.edu.my/75753/2/75753_A%20Formal%20Sensitivity%20Analysis%20for%20Laguerre_scopus.pdf http://irep.iium.edu.my/75753/3/75753_A%20Formal%20Sensitivity%20Analysis%20for%20Laguerre_wos.pdf |
| Summary: | A Laguerre Predictive Functional Control (LPFC) is a simple input shaping method, which can improve the prediction consistency and closed-loop performance of the conventional approach (PFC). However, it is well-known that an input shaping method, in general, will affect the loop sensitivity of a system. Hence, this paper presents a formal sensitivity analysis of LPFC by considering the effect of noise, unmeasured disturbance and parameter uncertainty. Sensitivity plots from bode diagrams and closed-loop simulation are used to illustrate the controller robustness and indicate that although LPFC often provides a better closed loop tracking response and disturbance rejection, this may involve some trade-off with the sensitivity to noise and parameter uncertainty. Finally, to validate the practicality of the results, the sensitivity of the LPFC control law is illustrated on real-time laboratory hardware. |
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