Stability Analysis Of Digital Pd Control Applied To Flexible Systems

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Author Fanni, Mohamed en_US
Author Al-Salem, N. en_US
Available date 2009-11-25T13:06:56Z en_US
Publication Date 2002 en_US
Citation Engineering Journal of Qatar University, 2002, Vol. 15, Pages 253-281. en_US
URI http://hdl.handle.net/10576/8006 en_US
Abstract The work shows that the sampling in a digital PD controller of a flexible system may cause instability, while the continuous PD control system is stable. A procedure is introduced to define the stability regions analytically in the gain space. A closed form stability criterion is derived for a system consists of a single rigid mode and one flexible mode. The procedure is applied successfully also for the case of single rigid mode considering the computation time in addition to sampling period. A comparison with the literature shows that this procedure is straightforward, gives more accurate result and even corrects some stability regions published in the literature. A computer program is constructed using MATLAB to determine the stability region for a system that consists of a single rigid mode and arbitrary number of flexible modes. This simulates many practical systems such as flexible robot arms, disk-drive servos and antenna systems. The results show that the stability regions can be approximated by a right triangle in the gain space. Analytical expressions are derived to define such triangles. en_US
Language en en_US
Publisher Qatar University en_US
Subject Engineering: Mechanical Engineering en_US
Title Stability Analysis Of Digital Pd Control Applied To Flexible Systems en_US
Type Article en_US
Pagination 253-281 en_US
Volume Number 15 en_US


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