Stabilizability of Mechanical Systems Subjected to Digital PIDA Control

Dávid Lehotzky, T. Insperger

Research output: Contribution to journalConference article

1 Citation (Scopus)

Abstract

This paper presents a study on the limits of stabilizability of unstable second-order dynamical systems by means of digital proportional-integral-derivative-acceleration (PIDA) feedback. Four different models are considered, which are all governed by the same dimensionless second-order differential equation. The mathematical model under analysis is a hybrid system involving terms with piecewise constant arguments due to the discrete sampling and actuation of the controller. Closed form formulas are derived for the domain of stability and for the limits of stabilizability as function of the system parameters, the sampling period and the control gains. It is concluded that while the acceleration term extends the limit of stabilizability, the integral term reduces stabilizability properties.

Original languageEnglish
Pages (from-to)131-138
Number of pages8
JournalProcedia IUTAM
Volume22
DOIs
Publication statusPublished - Jan 1 2017
EventIUTAM Symposium on Nonlinear and Delayed Dynamics of Mechatronic Systems, IUTAM Symposia 2016 - Nanjing, China
Duration: Oct 17 2016Oct 21 2016

Keywords

  • acceleration feedback
  • delay
  • digital control
  • feedback control
  • PIDA control
  • stabilizability
  • zero-order hold

ASJC Scopus subject areas

  • Mechanical Engineering

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