Technical Briefs

A Robustness Issue of Control Laws Designed by the Input-Shaping Methodology

[+] Author and Article Information
S. M. Shahruz1

 Berkeley Engineering Research Institute, P.O. Box 9984, Berkeley, CA 94709shahruz@cal.berkeley.edu


Corresponding author.

J. Dyn. Sys., Meas., Control 130(5), 054503 (Aug 04, 2008) (4 pages) doi:10.1115/1.2963040 History: Received April 13, 2007; Revised June 25, 2008; Published August 04, 2008

In this note, a robustness issue of control laws designed by the input-shaping methodology is brought to the fore. A control law designed by this methodology consists of a sequence of step inputs that are applied at designated time instants by a switching mechanism. It is shown that the stability of systems controlled by such control laws may not be robust in the presence of errors in the switching time instants.

Copyright © 2008 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

Response of system (2) when u(t)=0 for all t⩾0 (dashed line). Response of system (2) when the input in Eq. 5 is applied to it (solid line).

Grahic Jump Location
Figure 2

Response of system (2) when the input in Eq. 5 is applied to it, but the switching takes place at ts=0.79 (slightly after t*=π∕4). The system solution blows up at tb=217.303.

Grahic Jump Location
Figure 3

Responses of system (2) when the inputs in Eqs. 8,8 are applied to it; they are designated by (a) and (b), respectively



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