State Observers for Mechatronics Systems with Rigid and Flexible Drive Dynamics

Alexandra-Iulia Szedlak-Stinean, Radu-Emil Precup, Radu-Codrut David

Abstract

The mechatronics systems with rigid and flexible drive dynamics are nonlinear and complex processes. This paper proposes a controller with a novel structure, which is composed of three subsystems: a subsystem that provides the desired output and from the reference input a feed-forward signal, an observer and a feedback derived from the estimated states. This structure has the advantage that the response to reference signals can be decoupled from the response to disturbances. This paper also proposes observers based on predictive feedback, characterized by fast convergence and small sensitivity of the estimation to parameter variations. Design approaches for the controller and state observers are offered. The experimental setup considered in this paper, namely the Model 220 Industrial Plant Emulator (MIPE220), illustrates how the use of several control structures can be made accessible, easily understandable and increasingly attractive. The proposed design approaches are tested and validated in terms of conducting real-time experiments in terms of two experimental scenarios – step and staircase reference inputs – obtained for three specific values of the moment of inertia of the load disk.

Download


Paper Citation


in Harvard Style

Szedlak-Stinean A., Precup R. and David R. (2019). State Observers for Mechatronics Systems with Rigid and Flexible Drive Dynamics.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 387-394. DOI: 10.5220/0007921203870394


in Bibtex Style

@conference{icinco19,
author={Alexandra-Iulia Szedlak-Stinean and Radu-Emil Precup and Radu-Codrut David},
title={State Observers for Mechatronics Systems with Rigid and Flexible Drive Dynamics},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={387-394},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007921203870394},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - State Observers for Mechatronics Systems with Rigid and Flexible Drive Dynamics
SN - 978-989-758-380-3
AU - Szedlak-Stinean A.
AU - Precup R.
AU - David R.
PY - 2019
SP - 387
EP - 394
DO - 10.5220/0007921203870394