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UM Shaper Command Inputs for CRONE Control: Application on a DC Motor Bench

Author

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  • Rim Jallouli Khlif
  • Ahmed Abid
  • Pierre Melchior
  • Nabil Derbel

Abstract

This study proposes an approach to synthesize a three-impulse sequence input shaper with a negative impulse, known as Unity Magnitude (UM) shaper. The corresponding analytic model has been already achieved for undamped and low-damped systems. In this paper, the analytic design of UM shaper is demonstrated for the generalized case of damped systems for both types: integer and fractional orders. Hence, the UM shaper model has been designed for second-order systems with damped dynamics, associating a graphical fitting and an analytical procedure; then, it has been extended to explicit fractional derivative systems. Moreover, the feasibility and the effectiveness of the proposed on-off profile prefilter applied on a second-generation controller have been substantiated by experimental results on an instrumented DC motor bench.

Suggested Citation

  • Rim Jallouli Khlif & Ahmed Abid & Pierre Melchior & Nabil Derbel, 2021. "UM Shaper Command Inputs for CRONE Control: Application on a DC Motor Bench," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-11, May.
    • Handle: RePEc:hin:jnlmpe:9935875
    DOI: 10.1155/2021/9935875
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