Quantitative feedback design and construction of a two by two system with large disturbances.
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Date
1989
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Abstract
The quantitative feedback theory (QFT) of Horowitz is theoretically well developed for multivariable systems but there is not sufficient knowledge on its
application to practical problems. A "flying machine" consisting of an airframe
with two independently controlled sets of wings has been designed and
constructed as a 2-input 2-output control problem. The airframe is constrained
to move vertically on guide wires and to rotate about a pivot. Air flow over the
wings is provided by two 7.SkW fans operated without any attempt at providing
non-turbulent flow. The arrangement of the wings is such that in open loop, the
dynamic behaviour of the airframe from the rear set of wings to the height is
non-minimum phase. Additionally, the airframe is unstable for some flight
conditions. This uncertain, non-linear and highly disturbed plant provides an
ideal practical environment in which to test controller design theory. The construction, modelling, parameter estimation and simulation of the flying
machine is described. Three different controller structures are disGussed, with
actual controller designs arrived at from QFT understanding. The controller
designs for the flying machine take into account parameter uncertainty and trade off disturbance attenuation against rate and amplitude saturation at the wing angle inputs.
Description
Thesis (Ph.D.)-University of Natal, Durban, 1989.
Keywords
Feedback control systems., Automatic control., Flying-machines--Mathematical models., Theses--Electrical engineering.