Design and instrumentation of a benchmark multivariable nonlinear control laboratory

S. H. Teh; S. Malawaraarachci; W. P. Chan; A. Nassirharand

Design and instrumentation of a benchmark multivariable nonlinear control laboratory

S. H. Teh
, S. Malawaraarachci
, W. P. Chan
, A. Nassirharand

Materials and Manufacturing Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.

Original language	English
Pages (from-to)	871-877
Number of pages	7
Journal	World Academy of Science, Engineering and Technology
Volume	62
Publication status	Published - Feb 2010
Externally published	Yes

Keywords

Adjustable Coulomb friction
Adjustable backlash
Describing functions
Nonlinear control

Cite this

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AU - Chan, W. P.

AU - Nassirharand, A.

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AB - The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.

KW - Adjustable Coulomb friction

KW - Adjustable backlash

KW - Describing functions

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JO - World Academy of Science, Engineering and Technology

JF - World Academy of Science, Engineering and Technology

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Design and instrumentation of a benchmark multivariable nonlinear control laboratory

Abstract

Keywords

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