LMI-based state feedback controller design for vibration control of a negative imaginary system

Abdullah, Auwalu M. and Mohamed, Z. and Zainal Abidin, M.S. and Akmeliawati, Rini and Husain, A.R. and Bature, Amir A. (2015) LMI-based state feedback controller design for vibration control of a negative imaginary system. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah.

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Abstract

This paper presents state feedback control via linear matrix inequality (LMI) for vibration control of a flexible link manipulator (FLM) system. FLM is a negative imaginary (NI) system with high amplitude vibration and oscillation. In this work, pole placement controller (PPC) which is NI controller is used to control the FLM vibration, to achieve a precise hub angle positioning with minimum tip deflection. A decay rate is introduced to improve the speed of the system and investigate the effect on the system performance. LMI optimization technique is used to obtain the optimal and best control gains of PPC using Matlab LMI toolbox with different values of the decay rate. Simulation results show that satisfactory hub angle and tip deflection responses are achieved using the proposed controller. Damping is successfully added into the system and reduces the system vibration at the first two vibration modes by 40 dB. Hub angle positioning is achieved with minimum tip deflection by changing the value of decay rate.

Item Type:	Conference or Workshop Item (Invited Papers)
Additional Information:	5806/50634
Uncontrolled Keywords:	LMI approach; negative imaginary system; pole placement control; Vibration control
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	12 May 2016 16:23
Last Modified:	08 May 2017 08:48
URI:	http://irep.iium.edu.my/id/eprint/50634

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