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|Title||Multi-Rate Ripple-Free Deadbeat Control For Non-Linear Systems|
Deadbeat control was investigated extensively in the last couple of decades, but a need still exists to offer a better methodology for both performance and robustness for linear and nonlinear systems. This research proposes a new design methodology for ripple-free deadbeat control for nonlinear systems in discrete-time. The proposed method combines two ripple-free deadbeat control laws. The new controller guarantees robustness and handles multi-rate systems. Multi-rate digital control is used when processing time is greater than controller updating time; thus, processing time can be decreased by increasing at least one of the following: state feedback sampling time; output feedback-sampling time, input sampling time, and/or decreasing controller-updating rate for some processes; therefore, the sampling time is not unique for the whole system. The new controller is applied on magnetic ball levitation CE 152 as a case study for nonlinear systems. The deadbeat tracking formulation is based on a polynomial approach and a time domain approach; thus, the proposed method combines two deadbeat control laws. In this thesis, the time domain approach is used to ensure the local behavior of the nonlinear system, while the polynomial approach is used to provide deadbeat control to the linearized nonlinear system. Nonlinear system is linearized using feedback linearization, A second order linear model is used to approximate the nonlinear system based on two dominant poles; thus, the settling time which depend on the minimum order solution of Diophantine equations is minimized. Xilinx MATLAB toolbox is used to implement the new controller on real-time magnetic ball levitation. Sub controller, which depends on polynomial approach, is written in VHDL code, simulated and compared with original and approximated SIMULINK model using Xilinx DSP toolbox. Simulation and real-time results shows that the output signal exactly tracks the input sinusoidal signal in short settling time. The time domain specification for the output signal, control signal, and error signal are computed and satisfied the requirement and constraints. A time delay is also presented and included in the model and the solution is based on two Diophantine equations that form the ripple-free deadbeat.
|Publisher||the islamic university|
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