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Robust motion planning for a heat rod process

Abstract : First, heat rod models linking temperature to heat flux density are obtained from system identification using fractional order systems. Then, motion planning of the nominal system is obtained through an open-loop control stemming from flatness principles. Usually, each model should have its own control reference in order to follow a desired output reference. Thanks to a third generation CRONE controller, the nominal control reference is sufficient, and robust control is also guaranteed regarding model uncertainties and input/output disturbances. Robust motion planning is held on a real heat experiment and comparison between CRONE and PID controllers are proposed on this test bench.
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https://hal.archives-ouvertes.fr/hal-01485003
Contributor : Stéphane Victor <>
Submitted on : Tuesday, July 18, 2017 - 11:24:57 AM
Last modification on : Friday, February 28, 2020 - 12:46:11 PM
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Stéphane Victor, Pierre Melchior, Rachid Malti, Alain Oustaloup. Robust motion planning for a heat rod process. Nonlinear Dynamics, Springer Verlag, 2016, 86 (2), pp.1271 - 1283. ⟨10.1007/s11071-016-2963-2⟩. ⟨hal-01485003⟩

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