Internal Model Control for Pseudo-Hammerstein Systems with Backlash

机译：带有反冲的伪Hammerstein系统的内部模型控制

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In this paper, a discrete-time internal model control (IMC) approach to control the nonlinear systems described by pseudo-Hammerstein model with backlash is presented. In this method, the design strategy for discrete-time control is implemented by introducing the inverse function of pseudo-Hammerstein model with backlash. Moreover, the design of the filters to guarantee the robustness of the control system will be discussed. Finally, the simulation results are presented to illustrate the efficiency of the method.

机译：本文提出了一种离散时间内部模型控制（IMC）方法来控制带有假隙的伪Hammerstein模型所描述的非线性系统。在这种方法中，通过引入带有反向间隙的伪Hammerstein模型的逆函数来实现离散时间控制的设计策略。此外，将讨论保证控制系统鲁棒性的滤波器设计。最后，仿真结果表明了该方法的有效性。

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《Robotics, Automation and Mechatronics, 2008 IEEE Conference on》||P.90-94|共5页
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Dong Ruili; Tan Yonghong;
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中图分类工业技术;
关键词
Internal model control; backlash; inverse model; robust;

机译：内部模型控制;间隙;逆模型;鲁棒性;

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1. Internal Model Control for Dynamic Systems With Preceded Backlash [J] . Ruili Dong and Yonghong Tan Journal of Dynamic Systems, Measurement, and Control . 2009,第2期

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2. Internal Model Control for Dynamic Systems With Preceded Backlash [J] . Ruili Dong, Yonghong Tan Journal of Dynamic Systems, Measurement, and Control . 2009,第2期

机译：具有前冲力的动态系统的内部模型控制
3. Characteristic Modeling and Control of Servo Systems with Backlash and Friction [J] . Yifei Wu, Zhihong Wang, Yuanyuan Li, Mathematical Problems in Engineering . 2014,第pta3期

机译：带有间隙和摩擦的伺服系统特性建模与控制
4. Internal Model Control for Pseudo-Hammerstein Systems with Backlash [C] . Dong Ruili, Tan Yonghong IEEE International Conference on Robotics, Automation and Mechatronics . 2008

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5. Modeling the effects of belt compliance, backlash, and slip on web tension and new methods for decentralized control of web processing lines. [D] . Dwivedula, Ramamurthy V. 2005

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6. An alternative design approach for Fractional Order Internal Model Controllers for time delay systems [O] . C.I. Muresan, I. Birs, R. De Keyser 2021

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7. A unified modeling and control design for precision transmission system with friction and backlash [O] . Xiulan Bao, Jincheng Mao, Xin Luo 2016

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8. Uncertain Systems with Backlash: Modeling, Identification and Synthesis.Optimization and Systems Theory [R] . Nordin, M. 1993

机译：具有反弹的不确定系统：建模，识别和综合。优化和系统理论

Internal Model Control for Pseudo-Hammerstein Systems with Backlash

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