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Tuning of a Decoupling Controller for a 2×2 System using Iterative Feedback Tuning
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Université Catholique de Louvain, Belgium.
Université Catholique de Louvain, Belgium.
2003 (English)In: Control Engineering Practice, ISSN 0967-0661, Vol. 11, no 9, 1035-1041 p.Article in journal (Refereed) Published
Abstract [en]

Iterative feedback tuning is used to tune a decoupling controller for a 2 × 2 multivariable system. The tuning is carried out in two steps. In the first step the coefficients of two proportional decoupling controllers are tuned, and in the second step two PD-controllers are tuned. The approach is evaluated on a nonlinear simulation model of a two-link manipulator. The evaluation is carried out using two different reference trajectories and also in the presence of friction. The resulting closed loop systems show satisfactory behavior in all three cases.

Place, publisher, year, edition, pages
Elsevier, 2003. Vol. 11, no 9, 1035-1041 p.
Keyword [en]
Decoupling, Iterative feedback tuning, Robotics
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-46501DOI: 10.1016/S0967-0661(02)00288-5OAI: diva2:267397

© 2003 Elsevier Science Ltd. All rights reserved.

Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2013-07-17

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Gunnarsson, Svante
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ReferencesLink to record
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