A Minimal Controller Synthesis Algorithm for Narrow-Band Applications

Abstract

A common control problem is that of reducing a narrow-band error signal or a narrow-band component of a broad-band error signal. The particular application described in this paper is that of active vibration isolation for automotive vehicles. The error-driven minimal control synthesis (Er-MCSI) algorithm with integral action has been applied to this problem, but is known to exhibit gain windup. The nature of the gain windup phenomenon is investigated and methods to mitigate its effects are discussed. A new controller, the narrow-band MCS (NBMCS), is developed specifically for narrow-band applications. NBMCS is based upon Er-MCSI and exploits the deterministic nature of the system disturbance. The NBMCS algorithm is shown not to suffer from the gain windup problem. The properties and performance of the Er-MCSI and NBMCS controllers are compared analytically, via simulation and experimental application, to an automotive vehicle equipped with active engine mounts.

Keywords

adaptive control narrow-band applications minimal controller synthesis active vibration isolation

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