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Self‐oscillating adaptive design of systems with dry friction and significant parameter uncertainty
Author(s) -
Oldak S.,
Gutman P. O.
Publication year - 1995
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480090303
Subject(s) - control theory (sociology) , limit cycle , describing function , compensation (psychology) , limit (mathematics) , lti system theory , frequency domain , adaptive control , bandwidth (computing) , mathematics , linear system , computer science , control (management) , physics , nonlinear system , mathematical analysis , psychology , computer network , quantum mechanics , artificial intelligence , psychoanalysis
Abstract Motion control systems with dry friction and high‐order uncertain plants suffer from one or more limit cycles which can be predicted with describing function theory. In this paper quantitative design theory is presented to satisfy given frequency domain tolerances in these systems. The case of linear time‐invariant (LTI) compensation is studied first. Then it is shown how, in those systems with a limit cycle, self‐oscillating design with an adaptive loop (SOAL) can be used to reduce the LTI compensator bandwidth for a large class of problems.