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Robust control of electromechanical systems
Pohl, Lukáš ; Václavek, Pavel (referee) ; Blaha, Petr (advisor)
This thesis deals with the modern control approaches applicable to speed control of an induction motor. Historical perspective to the control theory and its evolution to the modern control will be presented in a short introduction. Basics of uncertainty modeling are presented along with linear fractional transformation (LFT) representation of an uncertain system. Two different approaches for robust controller synthesis are introduced - H-infinity loopshaping and mixed sensitivity H-infinity synthesis. Theoretical background is presented for both of these methods. Finally the robust controller for induction motor satisfying the control goals is designed using both methods. Design objectives are presented as transfer function weights shaping the sensitivity or complementary sensitivity function to desired shape. Several step responses were simulated to compare H-infinity loopshaping and mixed sensitivity H-infinity controllers with the conventional vector control approach.
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PMSM Drive Sliding Mode Control
Koňarik, Roman ; Blaha, Petr (referee) ; Václavek, Pavel (advisor)
The goal of this diploma work is to design a control for permanent magnet synchronous motor in sliding mode. The introduction describes a synchronous motor, sensors which are used in the control process as well as power devices. Further, there is description of mathematical model for the synchronous motor. Another part of the diploma work deals with classic vector control for this kind of motor followed by the sliding mode control for the motor. At the end, there is presented an algorithm which has been implemented in the processor designed for this equipment. All the controllers used in the equipment have been tested on motor simulations. In conclusion, there is a target analysis and facts finding.
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Robust control of AC induction motor drives
Pohl, Lukáš ; Václavek, Pavel (referee) ; Blaha, Petr (advisor)
This bacherlor thesis deals with design of robust controller. In general it is about designing robust controller by using H-infinity control theory and input-output feedback linearization. Special structure of state-space equation governing the induction motor allows using linear parameter varying feedback controller scheduled with rotor speed for inner current loop. The proposed controller delivers high performance over the entire operating range of the induction motor and compares favorably with other published results
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Simultaneous feedback stabilization: A survey
Hurák, Zdeněk ; Šebek, Michael
This paper gives a short introduction into the topic of simultaneous feedback stabilization, which is recognized as one of the fundamental open problems in control theory. In this paper, some essential defnitions are given, the relation between strong and simultaneous stability is explained, the recent result on complexity of the topic is stated, and some recent approaches based on LMI paradigm are described. SISO systems are considered only.
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Visualizing pseudospectra for polynomial eigenvalue problems
Klimentová, A. ; Šebek, Michael
The use of pseudospectra is widespread in various applications, e.g. control theory, acoustics, vibrating systems. Through pseudospectra we can gain insight into the sensitivity of the eigenvalues of a matrix to perturbations that is convenient for robut control. We have implemented in Matlab a method to visualize e-pseudospectra for n x n polynomial matrix of degree greater that 2. We compute pseudospectrum for each point of the complex plane using transfer function approach.
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