This paper develops an approach to control unstable nonlinear multi-inputs multi-output(MIMO) square plants using MIMO fractional order(FO) controllers. The controller design uses the linear time invariant(LTI) state ...This paper develops an approach to control unstable nonlinear multi-inputs multi-output(MIMO) square plants using MIMO fractional order(FO) controllers. The controller design uses the linear time invariant(LTI) state space representation of the nonlinear model of the plant and the diagonal closedloop transfer matrix(TM) function to ensure decoupling between inputs. Each element of the obtained MIMO controller could be either a transfer function(TF) or a gain. A TF is associated in turn with its corresponding FO TF. For example, a D(Derivative) TF is related to a FO TF of the form Dδ, δ =[0, 1]. Two applications were performed to validate the developed approach via experimentation: control of the angular positions of a manipulator, and control of the car and arm positions of a translational manipulator.展开更多
This paper addresses an iterative learning control(ILC) design problem for discrete-time linear systems with randomly varying trial lengths. Due to the variation of the trial lengths, a stochastic matrix and an iterat...This paper addresses an iterative learning control(ILC) design problem for discrete-time linear systems with randomly varying trial lengths. Due to the variation of the trial lengths, a stochastic matrix and an iteration-average operator are introduced to present a unified expression of ILC scheme. By using the framework of lifted system, the learning convergence condition of ILC in mathematical expectation is derived without using λ-norm. It is shown that the requirement on classic ILC that all trial lengths must be identical is mitigated and the identical initialization condition can be also removed. In the end, two illustrative examples are presented to demonstrate the performance and the effectiveness of the proposed ILC scheme for both time-invariant and time-varying linear systems.展开更多
A 1500 mA,10 MHz self-adaptive on-time （SOT） controlled buck DC-DC converter is presented. Both a low-cost ripple compensation scheme （RCS） and a self-adaptive on-time generator （SAOTG） are proposed to solve the...A 1500 mA,10 MHz self-adaptive on-time （SOT） controlled buck DC-DC converter is presented. Both a low-cost ripple compensation scheme （RCS） and a self-adaptive on-time generator （SAOTG） are proposed to solve the system stability and frequency variation problem. Meanwhile a self-adaptive power transistor sizing （SAPTS） technique is used to optimize the efficiency especially with a heavy load. The circuit is implemented in a 2P4M 0.35μm CMOS process. A small external inductor of 0.47 μH and a capacitor of 4.7 μF are used to lower the cost of the converter and keep the output ripple to less than 10 mV. The measurement results show that the overshoot of the load transient response is 8 mV @ 200 mA step and the dynamic voltage scaling （DVS） performance is a rise of 16/zs/V and a fall of 20 μs/V. With a SAPTS technique and PFM control, the efficiency is maintained at more than 81% for a load range of 20 to 1500 mA and the peak efficiency reaches 88.43%.展开更多
A 10 MHz ripple-based on-time controlled buck converter is presented. A novel low-cost dual ripple compensation, which consists of coupling capacitor compensation and passive equivalent series resistance compensation,...A 10 MHz ripple-based on-time controlled buck converter is presented. A novel low-cost dual ripple compensation, which consists of coupling capacitor compensation and passive equivalent series resistance compensation, is proposed to achieve a fast load transient response and robust stability simultaneously. Implemented in a 2P4M 0.35 um CMOS process, the converter achieves fix-frequency output with a ripple of below 10 mV and an overshoot of 10 mV at 400 mA step load transient response. With width optimization of the power transistors in an ultra-heavy load and PFM control in a light load, the efficiency stays at over 83% for a load range from 20 mA to 1.5 A and the peak efficiency reaches 90.16%.展开更多
文摘This paper develops an approach to control unstable nonlinear multi-inputs multi-output(MIMO) square plants using MIMO fractional order(FO) controllers. The controller design uses the linear time invariant(LTI) state space representation of the nonlinear model of the plant and the diagonal closedloop transfer matrix(TM) function to ensure decoupling between inputs. Each element of the obtained MIMO controller could be either a transfer function(TF) or a gain. A TF is associated in turn with its corresponding FO TF. For example, a D(Derivative) TF is related to a FO TF of the form Dδ, δ =[0, 1]. Two applications were performed to validate the developed approach via experimentation: control of the angular positions of a manipulator, and control of the car and arm positions of a translational manipulator.
文摘This paper addresses an iterative learning control(ILC) design problem for discrete-time linear systems with randomly varying trial lengths. Due to the variation of the trial lengths, a stochastic matrix and an iteration-average operator are introduced to present a unified expression of ILC scheme. By using the framework of lifted system, the learning convergence condition of ILC in mathematical expectation is derived without using λ-norm. It is shown that the requirement on classic ILC that all trial lengths must be identical is mitigated and the identical initialization condition can be also removed. In the end, two illustrative examples are presented to demonstrate the performance and the effectiveness of the proposed ILC scheme for both time-invariant and time-varying linear systems.
文摘A 1500 mA,10 MHz self-adaptive on-time （SOT） controlled buck DC-DC converter is presented. Both a low-cost ripple compensation scheme （RCS） and a self-adaptive on-time generator （SAOTG） are proposed to solve the system stability and frequency variation problem. Meanwhile a self-adaptive power transistor sizing （SAPTS） technique is used to optimize the efficiency especially with a heavy load. The circuit is implemented in a 2P4M 0.35μm CMOS process. A small external inductor of 0.47 μH and a capacitor of 4.7 μF are used to lower the cost of the converter and keep the output ripple to less than 10 mV. The measurement results show that the overshoot of the load transient response is 8 mV @ 200 mA step and the dynamic voltage scaling （DVS） performance is a rise of 16/zs/V and a fall of 20 μs/V. With a SAPTS technique and PFM control, the efficiency is maintained at more than 81% for a load range of 20 to 1500 mA and the peak efficiency reaches 88.43%.
文摘A 10 MHz ripple-based on-time controlled buck converter is presented. A novel low-cost dual ripple compensation, which consists of coupling capacitor compensation and passive equivalent series resistance compensation, is proposed to achieve a fast load transient response and robust stability simultaneously. Implemented in a 2P4M 0.35 um CMOS process, the converter achieves fix-frequency output with a ripple of below 10 mV and an overshoot of 10 mV at 400 mA step load transient response. With width optimization of the power transistors in an ultra-heavy load and PFM control in a light load, the efficiency stays at over 83% for a load range from 20 mA to 1.5 A and the peak efficiency reaches 90.16%.
