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Identification of flexible structures for robust control

Balas, Gary J. and Doyle, John C. (1990) Identification of flexible structures for robust control. IEEE Control Systems Magazine, 10 (4). pp. 51-58. ISSN 0272-1708. http://resolver.caltech.edu/CaltechAUTHORS:BALieeecsm90

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Abstract

Documentation is provided of the authors' experience with modeling and identification of an experimental flexible structure for the purpose of control design, with the primary aim being to motivate some important research directions in this area. A multi-input/multi-output (MIMO) model of the structure is generated using the finite element method. This model is inadequate for control design, due to its large variation from the experimental data. Chebyshev polynomials are employed to fit the data with single-input/multi-output (SIMO) transfer function models. Combining these SIMO models leads to a MIMO model with more modes than the original finite element model. To find a physically motivated model, an ad hoc model reduction technique which uses a priori knowledge of the structure is developed. The ad hoc approach is compared with balanced realization model reduction to determine its benefits. Descriptions of the errors between the model and experimental data are formulated for robust control design. Plots of select transfer function models and experimental data are included.


Item Type:Article
Additional Information:© 1990 IEEE. "Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” Presented at the 1989 American Control Conference, Pittsburgh, PA, June 21-23, 1989. This work was supported by a NASA Graduate Student Fellowship and by the Caltech President's Fund. The authors would like to thank Dr. Harold Stalford for his input and Dr. R. Lane Dailey for the Chebyshev polynomial curve fitting software.
Subject Keywords:control system synthesis, identification, multivariable systems, transfer functions
Record Number:CaltechAUTHORS:BALieeecsm90
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:BALieeecsm90
Alternative URL:http://dx.doi.org/10.1109/37.56278
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:1300
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:09 Jan 2006
Last Modified:26 Dec 2012 08:43

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