Research Papers

Integrated Robust Optimal Design Using Bilinear Matrix Inequality Approach Via Sensitivity Minimization

[+] Author and Article Information
Punit J. Tulpule

Department of Mechanical Engineering,
Iowa State University,
Ames, IA 50011
e-mail: ptulpule@iastate.edu

Atul G. Kelkar

ASME Fellow
Department of Mechanical Engineering,
Iowa State University,
Ames, IA 50011
e-mail: akelkar@iastate.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 2, 2013; final manuscript received October 10, 2013; published online February 19, 2014. Assoc. Editor: Fu-Cheng Wang.

J. Dyn. Sys., Meas., Control 136(3), 031012 (Feb 19, 2014) (8 pages) Paper No: DS-13-1092; doi: 10.1115/1.4026132 History: Received March 02, 2013; Revised October 10, 2013

A novel integrated robust control synthesis methodology is presented here which combines a traditional sensitivity theory with relatively new advancements in bilinear matrix inequality (BMI) constrained optimization problems. The proposed methodology is demonstrated using a numerical example of integrated control design problem for combine harvester header linkage. The integrated design methodology presented is compared with a traditional sequential design method and the results show that the proposed methodology provides a viable alternative for robust controller synthesis and often times offers even a better performance than competing methods.

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Grahic Jump Location
Fig. 1

Schematic diagram of combine harvester

Grahic Jump Location
Fig. 2

Schematic diagram of combine header. Pin joint location in the body centered coordinate system is the design parameter. Sensitivity is also computed with respect to this parameter.

Grahic Jump Location
Fig. 3

Schematic of dynamics included in the system

Grahic Jump Location
Fig. 4

Comparison between only controller design and integrated controller/structure design. (a) Comparison between performance. (b) Comparison between sensitivities. (c) Comparison between control inputs.



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