Re: dynamic mode for optimal control


"Everett X. Wang" <everteq@xxxxxxxxx> schrieb im Newsbeitrag
news:Iek6j.76163$YL5.34128@xxxxxxxxxxxxxxxxxxxxxxxxxxxxx
Hi All,

I am working on a dyamic control of a mobile robot. I have developed a
nonlinear dynamic model. What I am not sure is how accurate the dynamic
model is needed in order to have a stable optimal control output?



It is a matter of means that you use. The following refers to linear and
nonlinear systems:

1. The transfer function should be as accurate as possible.
2. Then you can find best feedforward use.
3. In addition disturbances should also be best compensated.

What I mean can be seen in an example with 2 disturbances:

Page 1: Definitions
Page 2: PID control
Page 3: PID and feedforward
Page 4: PID and feedforward and disturbance compensations

http://home.arcor.de/janch/janch/_control/20071208-controlcomparison/

The examples are based on a linear system. The linear ODEs can be replaced
by nonlinear ODEs if known. The process transfer function can be preferably
found via measurements.


--
Regards/Grüße http://home.arcor.de/janch/janch/menue.htm
Jan C. Hoffmann eMail aktuell: janch@xxxxxxxxxxxxxxxxxxx
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