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As an alternative to model reestimation and subsequent control design for state space systems in case unsatisfactory loop performance, direct tuning is investigated.
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The main advantages of this model are that it admits a simple, low-order formulation suitable for implementation and subsequent control design, and that most of the model parameters are identifiable directly from standard measurements.
The approach is shown to be easily applied and to suit subsequent control design.
Modeling systems in quasi-coordinates may facilitate a subsequent controller design, e.g. for underactuated systems with passive wheels or when a control input is a composite quantity with respect to coordinates that describe motion.
A model reduction method is investigated to provide a smaller structural dynamic model for subsequent structural control design.
We demonstrate that the Boltzmann-Hamel equations offer a competitive tool to develop dynamic control models for constrained systems and they may facilitate a subsequent controller design.
On iterative control schemes this lead to the minimization of identification and subsequent controller design procedures.
The variance expressions are compared with the open-loop situation, and evaluated in terms of their relevance for subsequent model-based control design.
In some cases, however, this approximation is too crude or does not fit subsequent processing, for instance, robust control design.
Our software infrastructure can be used for subsequent controls and specifications for ATEs.
An example of combined identification, feedback control design and subsequent validation is presented.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com