Browsing by Author "Wang, AP"

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CAN-based motion control design
(2003)
Hsieh, CC
;
Wang, AP
;
Hsu, PL
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Applying the controller area network (CAN) bus, this paper proposes the integration of three advanced motion control designs: (1) the zero phase error tracking control (ZPETC) mainly for each individual axis in the multi-axis system, (2) the zero magnitude error tracking control (ZMETC) for each individual axis at the high speed in the multi-axis system and (3) the cross-coupled control (CCC) for multiple axes of the whole system. The ZPETC and CCC or ZMETC and CCC serve to improve tracking and contouring motion accuracy, respectively. Experimental results on two AC servomotors show significantly improved motion accuracy, demonstrate the feasibility of the proposed approach.
Design of observers with unknown inputs using eigenstructure assignment
(2000-06-01)
Lin, SF
;
Wang, AP
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Observers with unknown inputs using eigenstructure assignment are established in this paper. Orders of observers may vary from minimum order to full order. Complete and parametric solutions for observer matrices and generalized eigenvectors are obtained. Owing to the completeness and parametric forms of the solution, more properties of the observer may be obtained; hence, the solution is quite suitable for advanced applications.
The parametric solutions of eigenstructure assignment for controllable and uncontrollable singular systems
(2000-08-15)
Wang, AP
;
Lin, SF
;
電控工程研究所
;
Institute of Electrical and Control Engineering
The previous results about the parametric solutions of eigenstructure assignment for singular systems applied by pure proportional or proportional-plus-derivative state feedback can only apply to controllable systems. It is because the parametric solutions of the right generalized eigenvectors corresponding to the infinite and uncontrollable finite eigenvalues have still not been found. In this paper, the parametric solutions of the right generalized eigenvectors for finite controllable (or uncontrollable) eigenvalues and infinite controllable (or uncontrollable) eigenvalues, when the system is applied by pure proportional or proportional-plus-derivative state feedback, are given. Hence, the parametric solution of eigenstructure assignment can be used to design the state feedback of both the controllable and uncontrollable systems. The condition for detecting the regularity of the resulting system is also given. (C) 2000 Academic Press.
The shifting of movable eigenvalues in uncontrollable singular systems
(1998-05-01)
Wang, AP
;
Lin, SF
;
電控工程研究所
;
Institute of Electrical and Control Engineering
A feedback design method for an uncontrollable singular system is proposed by which a set of possible state feedback gains can be designed to shift certain eigenvalues to other real or complex scalars. The method can be applied to single-or multi-input systems, and if so the method obtains non-unique possible feedback gains. If the original system is regular, real and impulse free, the closed-loop system also preserves these properties. (C) 1997 The Franklin Institute. Published by Elsevier Science Ltd.
Unknown input observers for singular systems designed by eigenstructure assignment
(2003-01-01)
Lin, SF
;
Wang, AP
;
電控工程研究所
;
Institute of Electrical and Control Engineering
In this paper, any unknown input observers with orders between minimum and full orders can be established for singular systems by eigenstructure assignment method. The complete and parametric solutions for the observer matrices and for the generalized eigenvectors are obtained. The completeness and parametric forms of the solutions and the flexibility in selecting the observer order allow the designer to choose a suitable observer according to the control purposes; hence, the solutions are quite suitable for advanced applications. (C) 2003 The Franklin Institute. Published by Elsevier Science Ltd. All rights reserved.