Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945699
Daisuke Koyama, K. Hashikura, Md Abdus Samad Kamal, K. Yamada
In this paper, we propose a design method of the multiplex-feedback control system having low-sensitivity and robust stability for a single-input/single-output time-delay system with a varying number of poles in the closed right half plane. The low sensitivity control has high-performance of input-output property. However, it is well-known that the low-sensitivity control often cannot maintain the control system robust stability. According to Yamada, there is a low sensitivity control system design method maintaining robust stability for a single-input/single-output minimum-phase system with a varying number of unstable poles. In addition, Yu et al. expand the result of Yamada and propose a design method of the multiplex-feedback control system that has low-sensitivity characteristics less than a conventional two-degree-of-freedom control system. In this paper, we expand the result of Yamada and Yu et al. and propose a design method of the multiplex-feedback control system with robust stability that has low-sensitivity characteristics less than a conventional feedback control system for a single-input/single-output time-delay plant having a varying number of unstable poles.
{"title":"The low-sensitivity control with robust stability using Multiplex-feedback control system for a time-delay plant having a varying number of unstable poles","authors":"Daisuke Koyama, K. Hashikura, Md Abdus Samad Kamal, K. Yamada","doi":"10.1109/ANZCC47194.2019.8945699","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945699","url":null,"abstract":"In this paper, we propose a design method of the multiplex-feedback control system having low-sensitivity and robust stability for a single-input/single-output time-delay system with a varying number of poles in the closed right half plane. The low sensitivity control has high-performance of input-output property. However, it is well-known that the low-sensitivity control often cannot maintain the control system robust stability. According to Yamada, there is a low sensitivity control system design method maintaining robust stability for a single-input/single-output minimum-phase system with a varying number of unstable poles. In addition, Yu et al. expand the result of Yamada and propose a design method of the multiplex-feedback control system that has low-sensitivity characteristics less than a conventional two-degree-of-freedom control system. In this paper, we expand the result of Yamada and Yu et al. and propose a design method of the multiplex-feedback control system with robust stability that has low-sensitivity characteristics less than a conventional feedback control system for a single-input/single-output time-delay plant having a varying number of unstable poles.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"08 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127216350","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945704
K. Mori
In this paper, we present a criterion of stabilizability of plants without coprime factorization for plants with equal number of inputs and outputs. This consists of factorizations of plants. Principally it requires precisely two coprime-like factorizations. We parametrize stabilizing controllers based on the criterion and also present their applications.
{"title":"Two Coprime-like Factorizations for Obtaining Stabilizing Controllers","authors":"K. Mori","doi":"10.1109/ANZCC47194.2019.8945704","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945704","url":null,"abstract":"In this paper, we present a criterion of stabilizability of plants without coprime factorization for plants with equal number of inputs and outputs. This consists of factorizations of plants. Principally it requires precisely two coprime-like factorizations. We parametrize stabilizing controllers based on the criterion and also present their applications.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122997397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945728
Nelson Cisneros, Héctor Ramírez, A. Rojas
This paper presents the model of a micro-channel using a port-Hamiltonian system approach. The model is represented by a series of tanks and pipes interconnected in series. These hydraulic elements can be interpreted as basic elements equivalent to electric components such as capacitors, inductance and resistors. Based on this model we design a controller using the total hydraulic-mechanical energy as a local Lyapunov function. The objective is to control the level of the micro-channel in some arbitrary point inside the channel.
{"title":"Port Hamiltonian modelling and control of a micro-channel","authors":"Nelson Cisneros, Héctor Ramírez, A. Rojas","doi":"10.1109/ANZCC47194.2019.8945728","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945728","url":null,"abstract":"This paper presents the model of a micro-channel using a port-Hamiltonian system approach. The model is represented by a series of tanks and pipes interconnected in series. These hydraulic elements can be interpreted as basic elements equivalent to electric components such as capacitors, inductance and resistors. Based on this model we design a controller using the total hydraulic-mechanical energy as a local Lyapunov function. The objective is to control the level of the micro-channel in some arbitrary point inside the channel.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133238838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945750
R. Carmona, H. Sung, H. AlbertoVazquez, Young Shik Kim
In this work, the trajectory synchronization in ship networks is proposed applying the theory of complex dynamic networks. The network nodes were modeled by the kinematic equation in the horizontal plane, without considering environmental disturbances. To solve the trajectory synchronization problem, the error synchronization is calculated as the difference between the ships trajectories, and then this error must be converged to zero. The error convergence is proven by the Lyapunov analysis proposed in the present work. The control law design for this method is determined by the structural properties of the network, as well as the dynamic characteristics in the nodes, and the simple choice of a coupling constant. To keep the separation distance between the ships trajectories a repulsion coefficient is added into the control law. Numerical simulations were carried out using Matlab, showing a fast error convergence for network synchronization. The obtained results in this work suggest the use of this method to solve the trajectory tracking problem in coordinated motion between ships, where the nodes in the network include the dynamic equation for ships.
{"title":"Trajectory tracking for vessels with the kinematic model using complex networks","authors":"R. Carmona, H. Sung, H. AlbertoVazquez, Young Shik Kim","doi":"10.1109/ANZCC47194.2019.8945750","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945750","url":null,"abstract":"In this work, the trajectory synchronization in ship networks is proposed applying the theory of complex dynamic networks. The network nodes were modeled by the kinematic equation in the horizontal plane, without considering environmental disturbances. To solve the trajectory synchronization problem, the error synchronization is calculated as the difference between the ships trajectories, and then this error must be converged to zero. The error convergence is proven by the Lyapunov analysis proposed in the present work. The control law design for this method is determined by the structural properties of the network, as well as the dynamic characteristics in the nodes, and the simple choice of a coupling constant. To keep the separation distance between the ships trajectories a repulsion coefficient is added into the control law. Numerical simulations were carried out using Matlab, showing a fast error convergence for network synchronization. The obtained results in this work suggest the use of this method to solve the trajectory tracking problem in coordinated motion between ships, where the nodes in the network include the dynamic equation for ships.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115572602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945622
R. Gandhi, D. Adhyaru
This research work presents the modified cascade control scheme using the Fuzzy Tuner. The proposed control structure is implemented for the Electromagnetic Levitation System (EMLS). This EMLS is a group of the highly nonlinear, unstable and electromechanically coupled system. The conventional cascade control with PID and PI controllers as primary and secondary loops is one of the widely used control approaches for the EMLS. However, the constant gains of the conventional cascade control structure may not provide the proper stabilization of the levitating object in the presence of the nonlinearities and the payload disturbances. Hence, Fuzzy Tuner is incorporated for the automatic tuning of the controller gains based on the ITAE criterion. Additionally, the nonlinear estimator is hybridized with the scheme to provide an online estimate of the vertical velocity of the EMLS. Also, the feed-forward compensator is introduced to compress the effect of the variation of the operating conditions. The experimental hardware is utilized to perform the stabilizing control and tracking control operations. The vertical payload disturbance in the range of 0-40 % is considered to check the efficacy of the proposed modified cascade controller.
{"title":"Fuzzy Tuner Based Modified Cascade Control for Electromagnetic Levitation System","authors":"R. Gandhi, D. Adhyaru","doi":"10.1109/ANZCC47194.2019.8945622","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945622","url":null,"abstract":"This research work presents the modified cascade control scheme using the Fuzzy Tuner. The proposed control structure is implemented for the Electromagnetic Levitation System (EMLS). This EMLS is a group of the highly nonlinear, unstable and electromechanically coupled system. The conventional cascade control with PID and PI controllers as primary and secondary loops is one of the widely used control approaches for the EMLS. However, the constant gains of the conventional cascade control structure may not provide the proper stabilization of the levitating object in the presence of the nonlinearities and the payload disturbances. Hence, Fuzzy Tuner is incorporated for the automatic tuning of the controller gains based on the ITAE criterion. Additionally, the nonlinear estimator is hybridized with the scheme to provide an online estimate of the vertical velocity of the EMLS. Also, the feed-forward compensator is introduced to compress the effect of the variation of the operating conditions. The experimental hardware is utilized to perform the stabilizing control and tracking control operations. The vertical payload disturbance in the range of 0-40 % is considered to check the efficacy of the proposed modified cascade controller.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128823736","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper studies the problem of formation maintenance and reconstruction of UAV swarm with obstacle avoidance. Firstly, a collision prediction mechanism is introduced to determine whether each UAV needs to avoid obstacles or not. Secondly, by designing the position and speed consistency control law between UAVs, each UAV and the virtual leader, combined with the obstacle avoidance mechanism based on the artificial potential field method, the swarm formation control and maintenance algorithm with obstacle avoidance is realized. Finally, the formation transformation is realized by changing the relative positional relationship between each UAV and the virtual leader. The simulation results show that the UAV swarm can generate, maintain and reconstruct the expected formation in a real-time distributed manner while avoiding obstacles.
{"title":"A Formation Maintenance and Reconstruction Method of UAV Swarm based on Distributed Control with Obstacle Avoidance","authors":"Xiaowei Fu, Jing Pan, Haixiang Wang, Xiao-guang Gao","doi":"10.1109/ANZCC47194.2019.8945601","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945601","url":null,"abstract":"This paper studies the problem of formation maintenance and reconstruction of UAV swarm with obstacle avoidance. Firstly, a collision prediction mechanism is introduced to determine whether each UAV needs to avoid obstacles or not. Secondly, by designing the position and speed consistency control law between UAVs, each UAV and the virtual leader, combined with the obstacle avoidance mechanism based on the artificial potential field method, the swarm formation control and maintenance algorithm with obstacle avoidance is realized. Finally, the formation transformation is realized by changing the relative positional relationship between each UAV and the virtual leader. The simulation results show that the UAV swarm can generate, maintain and reconstruct the expected formation in a real-time distributed manner while avoiding obstacles.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"469 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131652179","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945770
Kranthi Kumar Deveerasetty, Yimin Zhou, B. Han
In this paper, a TID controller is applied for the trajectory tracking of a quadrotor. The mathematical model of the control system is derived and compared with the traditional PD (Proportional-Derivative) controller. In order to improve the control precision of the UAV, the controller is designed by selecting the proper tuning parameters. To explore the effectiveness of the proposed controller, dynamic responses of a UAV obtained by using the TID controller and the validation of the results compared with the PD controller. The control performances are analysed by using MATLAB/Simulink model.
{"title":"Trajectory tracking of a quadrotor using TID controller","authors":"Kranthi Kumar Deveerasetty, Yimin Zhou, B. Han","doi":"10.1109/ANZCC47194.2019.8945770","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945770","url":null,"abstract":"In this paper, a TID controller is applied for the trajectory tracking of a quadrotor. The mathematical model of the control system is derived and compared with the traditional PD (Proportional-Derivative) controller. In order to improve the control precision of the UAV, the controller is designed by selecting the proper tuning parameters. To explore the effectiveness of the proposed controller, dynamic responses of a UAV obtained by using the TID controller and the validation of the results compared with the PD controller. The control performances are analysed by using MATLAB/Simulink model.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128660974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945595
Jian Zhang
This study develops a new path planning method which utilizes integrated environment representation and reinforcement learning to control a mobile robot with non-holonomic constraints in unknown dynamic environments. With the control algorithm presented, no approximating the shapes of the obstacles or even any information about the obstacles’ velocities is needed. Our novel approach enables to find the optimal path to the target efficiently and avoid collisions in a cluttered environment with steady and moving obstacles. We carry out extensive computer simulations to show the outstanding performance of our approach.
{"title":"Path Planning for a Mobile Robot in Unknown Dynamic Environments Using Integrated Environment Representation and Reinforcement Learning","authors":"Jian Zhang","doi":"10.1109/ANZCC47194.2019.8945595","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945595","url":null,"abstract":"This study develops a new path planning method which utilizes integrated environment representation and reinforcement learning to control a mobile robot with non-holonomic constraints in unknown dynamic environments. With the control algorithm presented, no approximating the shapes of the obstacles or even any information about the obstacles’ velocities is needed. Our novel approach enables to find the optimal path to the target efficiently and avoid collisions in a cluttered environment with steady and moving obstacles. We carry out extensive computer simulations to show the outstanding performance of our approach.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124415654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945746
David G. Taylor
Precision position control in the order of micro metres demands that friction is either compensated for or included in the control system loop. The dynamic friction models including LuGre, Elasto-plastic and Generalized Maxwell-Slip (GMS) have been shown to model friction. Each of these dynamic models have the state variables of bristle displacement (z) and bristle displacement velocity dz/dt. They each have an equation that relates the bristle displacement velocity to the sliding velocity (v). This principle is disputed. It is shown that the presliding friction force can be analytically calculated from the applied electrical force, without having to have any relationship of the sliding velocity to the bristle displacement velocity. This leads to a feedback control system for presliding bristle displacement, without actual measurement of it.The dynamic friction models are currently used in real time control to provide feed forward compensation. Feed forward compensation is pre-emptive in that it provides anticipated friction force based on the planned velocity. A new control system strategy and method of overcoming the sliding friction forces called “impulse control” is developed which can be applied pre-emptively. Impulse control means the control of the time integral of a state variable. The term is not used to refer to control by short force pulses in this paper. The impulse control strategy is more generally applicable than just for the control of systems with friction. This friction control methodology is still awaiting a full practical implementation.
{"title":"Friction pre-sliding control and sliding impulse compensation","authors":"David G. Taylor","doi":"10.1109/ANZCC47194.2019.8945746","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945746","url":null,"abstract":"Precision position control in the order of micro metres demands that friction is either compensated for or included in the control system loop. The dynamic friction models including LuGre, Elasto-plastic and Generalized Maxwell-Slip (GMS) have been shown to model friction. Each of these dynamic models have the state variables of bristle displacement (z) and bristle displacement velocity dz/dt. They each have an equation that relates the bristle displacement velocity to the sliding velocity (v). This principle is disputed. It is shown that the presliding friction force can be analytically calculated from the applied electrical force, without having to have any relationship of the sliding velocity to the bristle displacement velocity. This leads to a feedback control system for presliding bristle displacement, without actual measurement of it.The dynamic friction models are currently used in real time control to provide feed forward compensation. Feed forward compensation is pre-emptive in that it provides anticipated friction force based on the planned velocity. A new control system strategy and method of overcoming the sliding friction forces called “impulse control” is developed which can be applied pre-emptively. Impulse control means the control of the time integral of a state variable. The term is not used to refer to control by short force pulses in this paper. The impulse control strategy is more generally applicable than just for the control of systems with friction. This friction control methodology is still awaiting a full practical implementation.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129256440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945741
Shubham Khandelwal, K. Detroja
Encountering multivariable systems in process industries is quite common. Along with effectiveness and robustness, simplicity and easy scalability are the utmost requirements expected in a control system design. In this regard, we propose the Detuning Iterative Continuous Cycling (DICC) method for decentralized PI control of multi-input multi-output (MIMO) processes. The proposed DICC design utilizes the idea of continuous cycling for obtaining the ultimate parameters for the effective open-loop transfer functions (EOTFs). While for systems the controller settings are easily derived for the EOTFs, controller tuning for higher dimensional systems is challenging due to complicated EOTF dynamics. Therefore, the effective transfer function (ETF) description of the large scale MIMO system is used for obtaining the ultimate parameters during the closed loop continuous cycling test. Thereafter for obtaining multi-loop PI controller settings, the derived ultimate parameters for the EOTFs/ETFs are subjected to appropriate detuning adjustments. The wide applicability, effectiveness, simplicity and easy scalability of the proposed DICC method has been demonstrated by considering various $2 times 2, 3 times 3$ and $4 times 4$ dimensional MIMO systems. Further, robustness of the proposed design has also been tested by introducing a plant-model mismatch of ± 10% during the closed-loop simulations.
{"title":"Detuning Iterative Continuous Cycling based Multi-loop PI control for multivariable processes","authors":"Shubham Khandelwal, K. Detroja","doi":"10.1109/ANZCC47194.2019.8945741","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945741","url":null,"abstract":"Encountering multivariable systems in process industries is quite common. Along with effectiveness and robustness, simplicity and easy scalability are the utmost requirements expected in a control system design. In this regard, we propose the Detuning Iterative Continuous Cycling (DICC) method for decentralized PI control of multi-input multi-output (MIMO) processes. The proposed DICC design utilizes the idea of continuous cycling for obtaining the ultimate parameters for the effective open-loop transfer functions (EOTFs). While for systems the controller settings are easily derived for the EOTFs, controller tuning for higher dimensional systems is challenging due to complicated EOTF dynamics. Therefore, the effective transfer function (ETF) description of the large scale MIMO system is used for obtaining the ultimate parameters during the closed loop continuous cycling test. Thereafter for obtaining multi-loop PI controller settings, the derived ultimate parameters for the EOTFs/ETFs are subjected to appropriate detuning adjustments. The wide applicability, effectiveness, simplicity and easy scalability of the proposed DICC method has been demonstrated by considering various $2 times 2, 3 times 3$ and $4 times 4$ dimensional MIMO systems. Further, robustness of the proposed design has also been tested by introducing a plant-model mismatch of ± 10% during the closed-loop simulations.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"731 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126193092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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