Analog Implementation of a Robust Control Strategy for Mechanical Systems
Alvarez, J.
Rosas, D.
Pena, J.
Dept. of Electron. & Telecommun., Sci. Res. & Higher Educ. Center of Ensenada, Ensenada, Mexico;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Sept. 2009
Volume: 56,
Issue: 9
On page(s): 3377-3385
ISSN: 0278-0046
INSPEC Accession Number: 10816632
Digital Object Identifier: 10.1109/TIE.2009.2020706
First Published: 2009-04-21
Current Version Published: 2009-08-11
Abstract
An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot.
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