PWM POLE ASSIGNMENT CONTROL OF A MECHANICAL POSITIONING SYSTEM

HUBA, M.; SOVIŠOVÁ, D.; ORAVEC, I.

Abstract

This paper presents the Pulse Width Modulation (PWM) control design applied to the positioning control of a mechanical system. It is based on the invariant set based design of constrained 2nd order time delayed systems. The developed controllers are tuned by a simple method that can be considered as a generalization of the step response based method by Ziegler and Nichols. One special approach to the constrained control of the SISO systems with both the Pulse Amplitude Modulation (PAM) and the Pulse Width Modulation (PWM) based on splitting the n-th order dynamics into the n 1st order ones was presented by Huba et al. (1999) and by other papers already several years ago.

Coresponding author e-mail: ivan[dot]oravec[at]stuba[dot]sk

Session: Linear and Non-linear Control System Design