Tafrishi, Seyed Amir ![]() |
Abstract
Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. These control strategies also should be designed with consideration of the run-time behavior of the system. One of such research attempts is to design the controller along with the task scheduler, known as control-scheduling co-design, for more predictable timing behavior as well as surviving system overloads. Unlike traditional controller designs, which have equal-distance sampling periods, the co-design approach increases the system flexibility and resilience by explicitly considering timing properties, for example using an event-based controller or with multiple sampling times (non-uniform sampling and control). Within this context, we introduce the first work on the discretization of an energy-based controller that can switch arbitrarily between multiple periods and adjust the control parameters accordingly without destabilizing the system. A digital controller design based on this paradigm for a DC motor with an elastic load as an example is introduced and the stability condition is given based on the proposed Lyapunov function. The method is evaluated with various computer-based simulations which demonstrate its effectiveness.
Item Type: | Conference or Workshop Item (Paper) |
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Date Type: | Published Online |
Status: | Published |
Schools: | Engineering |
Publisher: | IEEE |
ISBN: | 978-1-6654-5196-3 |
Last Modified: | 24 Jan 2023 02:08 |
URI: | https://orca.cardiff.ac.uk/id/eprint/155875 |
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