TY - GEN
T1 - Position funnel control with linear internal model
AU - Hackl, C. M.
AU - Kennel, R. M.
PY - 2012
Y1 - 2012
N2 - This paper presents funnel control (FC) with derivative feedback in conjunction with internal model (IM) for relative-degree-two systems and its application for position control of stiff one-mass systems (1MS). The funnel controller guarantees reference tracking with 'prescribed transient accuracy', i.e. tracking error (difference between reference and regulated output) and its derivative evolve within a prescribed bounded region (the 'performance funnel'). The additional use of an internal model improves tracking accuracy and disturbance rejection. Comparative measurement results are shown for different internal models.
AB - This paper presents funnel control (FC) with derivative feedback in conjunction with internal model (IM) for relative-degree-two systems and its application for position control of stiff one-mass systems (1MS). The funnel controller guarantees reference tracking with 'prescribed transient accuracy', i.e. tracking error (difference between reference and regulated output) and its derivative evolve within a prescribed bounded region (the 'performance funnel'). The additional use of an internal model improves tracking accuracy and disturbance rejection. Comparative measurement results are shown for different internal models.
UR - http://www.scopus.com/inward/record.url?scp=84873103802&partnerID=8YFLogxK
U2 - 10.1109/CCA.2012.6402679
DO - 10.1109/CCA.2012.6402679
M3 - Conference contribution
AN - SCOPUS:84873103802
SN - 9781467345033
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 1334
EP - 1339
BT - 2012 IEEE International Conference on Control Applications, CCA 2012
T2 - 2012 IEEE International Conference on Control Applications, CCA 2012
Y2 - 3 October 2012 through 5 October 2012
ER -