Robust nonlinear controller based on set propagation

 

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dc.contributor.advisor Attfield, Malcom en_ZA
dc.contributor.author Fish, Garron A en_ZA
dc.date.accessioned 2014-07-31T10:57:53Z
dc.date.available 2014-07-31T10:57:53Z
dc.date.issued 2003 en_ZA
dc.identifier.citation Fish, G. 2003. Robust nonlinear controller based on set propagation. University of Cape Town. en_ZA
dc.identifier.uri http://hdl.handle.net/11427/5222
dc.description Bibliography: leaves 74-[76.]
dc.description.abstract A novel control method, based on interval analysis, that optimises the control surface (or u-surface) for sampled systems with output disturbances is demonstrated on a driven pendulum with actuator constraints. The fitness function to be maximized is the probability of each state of the system being controlled to the setpoint without being perturbed to regions that are more iterations away from the setpoint. The u-surface is designed by finding all the states that could go to the setpoint in an interval and optimising these states. This process is repeated (backwards in time) by optimising states that go to the previously optimised states until no more states that have not been optimised are found. The proposed control method has been applied to the problem of swinging up a driven pendulum from rest to the inverted position with constraints on the torque of the motor. This method is computationally intensive and time constraints limit its current application to systems of low order. en_ZA
dc.language.iso eng en_ZA
dc.subject.other Electrical Engineering en_ZA
dc.title Robust nonlinear controller based on set propagation en_ZA
dc.type Thesis / Dissertation en_ZA
uct.type.publication Research en_ZA
uct.type.resource Thesis en_ZA
dc.publisher.institution University of Cape Town
dc.publisher.faculty Faculty of Engineering & the Built Environment en_ZA
dc.publisher.department Department of Electrical Engineering en_ZA
dc.type.qualificationlevel Masters en_ZA
dc.type.qualificationname MSc en_ZA
uct.type.filetype Text
uct.type.filetype Image


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