Abstract
The parameter space approach based robust PI control design methodology for DC motor speed control is proposed in this paper. The multi-objective design requirements like D-stability, phase margin and mixed sensitivity (frequency domain) bounds are mapped into the controller parameter space to determine PI controller coefficients which satisfies the desired user-defined specifications. Besides robust PI controller, an add-on disturbance observer is utilized to enhance the tracking performance and disturbance rejection of the control system. The proposed control scheme is validated by simulations and experiments. The results prove that the effectiveness of the proposed control system against uncertainties in the modeling and disturbances on the system response.
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Mümin Tolga Emirler received the Ph.D. degree in mechanical engineering from Đstanbul Technical University, Đstanbul, Turkey in 2015. He worked previously in the Ohio State University as a postdoctoral researcher. He joined Okan University in February 2016 as an Assistant Professor in the Department of Mechanical Engineering. His current research interests include applied robust control, vehicle dynamics control, control problems in automated / connected vehicles and mechatronic systems.
Bilin Aksun Güvenç received the Ph.D. degree in mechanical engineering from Đstanbul Technical University, Đstanbul, Turkey in 2001. She worked previously in Đstanbul Technical University and Okan University where she was a Professor. She joined the Ohio State University in September 2014 as a Visiting Professor in the Department of Mechanical and Aerospace Engineering and the Center for Automotive Research. Her expertise is in automotive control systems such as yaw stability control, cooperative adaptive cruise control, collision avoidance systems, autonomous vehicles, and smart cities. She is the author of one book, two book chapters and ninety publications in journals and conferences.
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Emirler, M.T., Aksun Güvenç, B. Multi-objective parameter space approach based controller and add-on disturbance observer design. J Mech Sci Technol 31, 4447–4458 (2017). https://doi.org/10.1007/s12206-017-0845-2
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DOI: https://doi.org/10.1007/s12206-017-0845-2