Technical Briefs

Internal Model Control for Dynamic Systems With Preceded Backlash

[+] Author and Article Information
Ruili Dong

College of Mechanical and Electronic Engineering, Shanghai Normal University, Shanghai 201814, China; Department of Automation, A0503221, Shanghai Jiaotong University, Shanghai 200040, China

Yonghong Tan1

College of Mechanical and Electronic Engineering, Shanghai Normal University, Shanghai 201814, Chinatanyongh@yahoo.com.cn


Corresponding author.

J. Dyn. Sys., Meas., Control 131(2), 024504 (Feb 09, 2009) (5 pages) doi:10.1115/1.3023130 History: Received February 02, 2008; Revised September 11, 2008; Published February 09, 2009

A discrete-time internal model control approach for nonsmooth nonlinear systems described by a pseudo-Hammerstein model with backlash is presented. In this method, the controlled system is described by the pseudo-Hammerstein model, and the corresponding inverse model is constructed. Considering the existence of the model mismatch, the internal model control is implemented. As the model is switched among the different operating zones, the piecewise robust filters are proposed to improve the robust stability and transient performance of the control system. Finally, the simulation results based on the proposed method for a mechanical transmission system are presented.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 3

Architecture of the traditional IMC

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Figure 4

Inverse pseudo-Hammerstein model

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Figure 5

The mechanical transmission system

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Figure 6

Comparison between the proposed and traditional IMC methods

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Figure 7

Comparison between the proposed and PID methods

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Figure 1

Pseudo-Hammerstein system



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