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dc.contributor.advisorRajanna, K
dc.contributor.advisorDinesh, N S
dc.contributor.authorAravind, M A
dc.date.accessioned2021-03-26T07:18:30Z
dc.date.available2021-03-26T07:18:30Z
dc.date.submitted2019
dc.identifier.urihttps://etd.iisc.ac.in/handle/2005/5007
dc.description.abstractExperience Mapping based Predictive Controller (EMPC) is a concept based on the principle of Human Motor Control, that was earlier developed and applied to control a well damped Type 1 system. In this thesis, the concepts of EMPC have been expanded and applied to control an under-damped Type 1 system to achieve reduced overshoots and oscillations. The proposed controller is applied to a DC motor based positioning system with a load coupled through a flexible shaft, which constitutes an under damped position system. EMPC uses the concept of learning by experience and generates an Experience Mapped Knowledge (EMK) which stores a one-to-one mapping of the control parameter to the corresponding steady state value of the parameter to be controlled. The EMK is generated by applying various control actions to the system with different values of the control parameter and corresponding steady state values are recorded. EMK helps EMPC to give the right control action for a given demand by using linear interpolation method. Simulation and practical experimental results show that the proposed controller performs better than traditional controllers like the Proportional-Derivative (PD), and State Space based controllers like the Linear Quadratic Regulator (LQR) and the Linear Quadratic Gaussian (LQG) controller. Stability of EMPC in the presence of non-linearities and various changes in system parameters such as dry friction, actuator saturation, load inertia and spring constant and adaptability of the controller for the same are also discussed with suitable simulation results. The concepts of EMPC are further modified to suit systems containing Backlash as an example. EMPC demonstrates reduced overshoots and zero steady state error in both simulation and practical system. EMPC is practically applied to control an inverted pendulum which does balancing and centring of the carriage simultaneouslyen_US
dc.language.isoen_USen_US
dc.relation.ispartofseries;G29808
dc.rightsI grant Indian Institute of Science the right to archive and to make available my thesis or dissertation in whole or in part in all forms of media, now hereafter known. I retain all proprietary rights, such as patent rights. I also retain the right to use in future works (such as articles or books) all or part of this thesis or dissertationen_US
dc.subjectExperience Mapping based Predictive Controlleren_US
dc.subjectDC motoren_US
dc.subjectIntelligent Control Systemsen_US
dc.subjectUnder-damped Systemsen_US
dc.subjectUnstable Systemsen_US
dc.subjectBacklashen_US
dc.subjectDC Motor based Position Controlen_US
dc.subject.classificationResearch Subject Categories::TECHNOLOGY::Electrical engineering, electronics and photonics::Electrical engineeringen_US
dc.titleApplication of Experience Mapping based Predictive Controller (EMPC) for Under-damped and Unstable Systemsen_US
dc.typeThesisen_US
dc.degree.namePhDen_US
dc.degree.levelDoctoralen_US
dc.degree.grantorIndian Institute of Scienceen_US
dc.degree.disciplineEngineeringen_US


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