Optimal tracking in two-degree-of-freedom control systems: Coupled tank system

This article presents an optimal design of a two-degree-of-freedom (2-DoF) controller that will lead to zero asymptotic steady-state tracking error. The reference inputs are chosen from the set of steps, ramps, and other persistent signals used currently. The main idea is to transform the tracking 2...

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Autores: Teppa, Pedro, FAGGIONI, Miguel, GARCIA, Germain
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2023
País:México
Institución:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
Repositorio:Journal of Applied Research and Technology
Idioma:inglés
OAI Identifier:oai:ojs2.localhost:article/2000
Acceso en línea:https://jart.icat.unam.mx/index.php/jart/article/view/2000
Access Level:acceso abierto
Palabra clave:Tracking problem, Reference following, Two-degree-of-freedom controller, 2 DoF, LQR, Coupled-Tank System.
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spelling Optimal tracking in two-degree-of-freedom control systems: Coupled tank systemTeppa, PedroFAGGIONI, MiguelGARCIA, GermainTracking problem, Reference following, Two-degree-of-freedom controller, 2 DoF, LQR, Coupled-Tank System.This article presents an optimal design of a two-degree-of-freedom (2-DoF) controller that will lead to zero asymptotic steady-state tracking error. The reference inputs are chosen from the set of steps, ramps, and other persistent signals used currently. The main idea is to transform the tracking 2-DoF problem into an equivalent state-space feedback-control synthesis one. Where, an internal model of the reference input is introduced. Then, through the linear quadratic regulator (LQR) technique, the desired performance objectives are addressed by minimizing a quadratic cost function. Finally, the computed state-feedback optimal gains are linked to the polynomials used within the 2-DoF formalism. The fundamental aspect of the design is that it only utilizes the measurable information of the plant provided by its inputs and outputs and take advantage of efficient state-space numerical algorithms. The proposed method is applied to a coupled-tank system, the results achieved confirm the effectiveness of the approach.Universidad Nacional Autónoma de México2023-08-31info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionPeer-reviewed Articleapplication/pdfhttps://jart.icat.unam.mx/index.php/jart/article/view/200010.22201/icat.24486736e.2023.21.4.2000Journal of Applied Research and Technology; Vol. 21 No. 4 (2023); 560-570Journal of Applied Research and Technology; Vol. 21 Núm. 4 (2023); 560-5702448-67361665-642310.22201/icat.24486736e.2023.21.4reponame:Journal of Applied Research and Technologyinstname:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICOinstacron:UNAMenghttps://jart.icat.unam.mx/index.php/jart/article/view/2000/1011Copyright (c) 2023 Universidad Nacional Autónoma de Méxicohttp://creativecommons.org/licenses/by-nc-nd/4.0info:eu-repo/semantics/openAccessoai:ojs2.localhost:article/20002024-08-16T17:54:20Z
dc.title.none.fl_str_mv Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
title Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
spellingShingle Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
Teppa, Pedro
Tracking problem, Reference following, Two-degree-of-freedom controller, 2 DoF, LQR, Coupled-Tank System.
title_short Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
title_full Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
title_fullStr Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
title_full_unstemmed Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
title_sort Optimal tracking in two-degree-of-freedom control systems: Coupled tank system
dc.creator.none.fl_str_mv Teppa, Pedro
FAGGIONI, Miguel
GARCIA, Germain
author Teppa, Pedro
author_facet Teppa, Pedro
FAGGIONI, Miguel
GARCIA, Germain
author_role author
author2 FAGGIONI, Miguel
GARCIA, Germain
author2_role author
author
dc.subject.none.fl_str_mv Tracking problem, Reference following, Two-degree-of-freedom controller, 2 DoF, LQR, Coupled-Tank System.
topic Tracking problem, Reference following, Two-degree-of-freedom controller, 2 DoF, LQR, Coupled-Tank System.
description This article presents an optimal design of a two-degree-of-freedom (2-DoF) controller that will lead to zero asymptotic steady-state tracking error. The reference inputs are chosen from the set of steps, ramps, and other persistent signals used currently. The main idea is to transform the tracking 2-DoF problem into an equivalent state-space feedback-control synthesis one. Where, an internal model of the reference input is introduced. Then, through the linear quadratic regulator (LQR) technique, the desired performance objectives are addressed by minimizing a quadratic cost function. Finally, the computed state-feedback optimal gains are linked to the polynomials used within the 2-DoF formalism. The fundamental aspect of the design is that it only utilizes the measurable information of the plant provided by its inputs and outputs and take advantage of efficient state-space numerical algorithms. The proposed method is applied to a coupled-tank system, the results achieved confirm the effectiveness of the approach.
publishDate 2023
dc.date.none.fl_str_mv 2023-08-31
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Peer-reviewed Article
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://jart.icat.unam.mx/index.php/jart/article/view/2000
10.22201/icat.24486736e.2023.21.4.2000
url https://jart.icat.unam.mx/index.php/jart/article/view/2000
identifier_str_mv 10.22201/icat.24486736e.2023.21.4.2000
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv https://jart.icat.unam.mx/index.php/jart/article/view/2000/1011
dc.rights.none.fl_str_mv Copyright (c) 2023 Universidad Nacional Autónoma de México
http://creativecommons.org/licenses/by-nc-nd/4.0
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Copyright (c) 2023 Universidad Nacional Autónoma de México
http://creativecommons.org/licenses/by-nc-nd/4.0
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidad Nacional Autónoma de México
publisher.none.fl_str_mv Universidad Nacional Autónoma de México
dc.source.none.fl_str_mv Journal of Applied Research and Technology; Vol. 21 No. 4 (2023); 560-570
Journal of Applied Research and Technology; Vol. 21 Núm. 4 (2023); 560-570
2448-6736
1665-6423
10.22201/icat.24486736e.2023.21.4
reponame:Journal of Applied Research and Technology
instname:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
instacron:UNAM
instname_str UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
instacron_str UNAM
institution UNAM
reponame_str Journal of Applied Research and Technology
collection Journal of Applied Research and Technology
repository.name.fl_str_mv
repository.mail.fl_str_mv
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