Model parameters vary significantly during a normal operation, thus, adaptive techniques have predominately been used. However, model-based techniques that carefully account for changes in the force process have again been examined due to the reduced complexity afforded by such techniques. In this paper, the effect of model parameter variations on the closed-loop stability for two model-based force controllers is examined. It was found that the stability boundary in the process parameter space can be exactly determined for force control systems designed for static force processes. For force control systems designed for first-order force processes, it was found that the stability boundary is sensitive to the estimate of the discrete-time pole. The analysis was verified via simulations and experimental studies
R. G. Landers and Yen-Wen Lu, "Stability Analysis of Nonlinear Machining Force Controllers," Proceedings of the 1999 American Control Conference, 1999, Institute of Electrical and Electronics Engineers (IEEE), Jan 1999.
The definitive version is available at http://dx.doi.org/10.1109/ACC.1999.782913
1999 American Control Conference, 1999
Mechanical and Aerospace Engineering
Keywords and Phrases
Adaptive Control; Closed Loop Systems; Discrete-Time Pole; Force Control; Linearisation; Linearisation Techniques; Machining; Model-Based Control; Nonlinear Control Systems; Parameter Space; Poles and Zeros; Stability
Article - Conference proceedings
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