Keywords

Predictive control, Tracking, Time delay

Abstract

This study investigated a tracking system to trace unknown signal in the presence oftime delay. A predictive control method is proposed in order to compensate the time delay. Root locus method is applied when designing the controller, parameter setting is carried out through error and trail technique in w-plane. State space equation is derived for the system, with special state chose of tracking error. To analyze the asymptotic stability of the proposed predictive control system, the Lyapunov function is constructed. It is shown that the designed system is asymptotically stable when input signal is rather low frequency signal. In order to illustrate the system performance, simulations are done based on the data profile technique. Signal profiles including acceleration pro le, velocity pro le, and trajectory profile are listed. Based on these profiles, simulations can be carried out and results can be taken as a good estimation for practical performance of the designed predictive control system. Signal noise is quite a common phenomenon in practical control systems. Under the situation that the input signal is with measurement noise, low pass filter is designed to filter out the noise and keep the low frequency input signal. Two typical kinds of noise are specified, i.e Gaussian noise and Pink noise. Simulations results are displayed to show that the proposed predictive control with low-pass filter design can achieve better performance in the case of both kinds of noise.

Notes

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Graduation Date

2005

Semester

Fall

Advisor

Qu, Zhihua

Degree

Master of Science in Electrical Engineering (M.S.E.E.)

College

College of Engineering and Computer Science

Department

Electrical and Computer Engineering

Degree Program

Electrical Engineering

Format

application/pdf

Identifier

CFE0000819

URL

http://purl.fcla.edu/fcla/etd/CFE0000819

Language

English

Release Date

January 2006

Length of Campus-only Access

None

Access Status

Masters Thesis (Open Access)

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