A three-loop model-following control structure: theory and implementation

This article presents a novel three-loop control system, which supplements control structures known from the literature as model following control (MFC). The major advantage of the proposed system is its high robustness to process parameter variations; it is much higher than that offered by single-l...

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Bibliographic Details
Published in:International journal of control 2010-01, Vol.83 (1), p.97-104
Main Authors: Osypiuk, R., Kröger, T.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
internal-model control
model-based control
model-following control
PID control
Robotics
robust control
Studies
System theory
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Summary:This article presents a novel three-loop control system, which supplements control structures known from the literature as model following control (MFC). The major advantage of the proposed system is its high robustness to process parameter variations; it is much higher than that offered by single-loop or two-loop control systems. Features of the new structure are revealed by a theoretical analysis that has been carried out from the viewpoint of requirements for a force/pose controller of a Stäubli RX60 manipulator. This article shows how the proposed control structure responds to such strong process parameter variations and makes a comparison to results yielded by single-loop control structures.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207170903100230