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Document Type

Original Study

Keywords

Control Engineering

Abstract

In this paper, a novel flow control strategy which is the inletthrottled pump was used to design an angular velocity control system forrotary actuator. Inlet throttled systems have good performance in addition totheir high efficiency compared to traditional valve controlled systems. Theflow in the proposed system is adjusted by a valve that is positioned at thepump inlet with the purpose of reducing the energy loses across the valve.This regulated flow is used then to control the actuator angular velocity. Thesystem was modeled and the open loop stability and performance werestudied. In order to improve the system performance, Robust-Proportional-Integral-Derivative (RPID) and structured singular value (����) controllershave been designed. The multiplicative uncertainty was analyzed to assess therobustness of the feedback control system where six parameters wereconsidered uncertain within a range of +10%. The robust stability andperformance requirements of the closed-loop angular velocity control systemwere assessed in the frequency domain. The time response of the systemshowed that the system is stable with both (RPID) and (Mu) controllers. TheMu controller can handle parametric uncertainty without requiring pureintegral term which is a significant advantage over the (RPID) controller. Onthe other hand, the (RPID) controller could achieve robust performance,making it much suitable for systems that require high levels of performanceand robustness. In summary, the the (RPID) and Mu controller is a morecomprehensive solution for ensuring the best performance of a system. Theresults for each (RPID) and Mu-controllers showed no oscillations, zeropercent overshoot. Each of the (RPID) and Mu-controllers meets therobustness needs.

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