Robust pole assignment using velocity-acceleration feedback for second-order dynamical systems with singular mass...

Area of Science:

• Control Systems Engineering
• Linear System Dynamics
• Robust Control Theory

Background:

• Second-order linear systems with singular mass matrices present unique control challenges.
• Traditional pole assignment methods may not be directly applicable or optimal for these systems.
• Velocity and acceleration feedback offer advantages in practical applications due to signal availability.

Purpose of the Study:

• To develop a robust pole assignment method for second-order linear systems with singular mass matrices.
• To utilize combined velocity and acceleration feedback for improved system performance and robustness.
• To provide explicit parametric solutions and computational algorithms for practical implementation.

Main Methods:

• Derivation of explicit parametric expressions for the feedback gain controller and eigenvector matrix.
• Utilizing the degrees of freedom in velocity-acceleration feedback for eigenvector selection.
• Development of straightforward computational algorithms applicable to singular and nonsingular mass matrices.

Main Results:

• Explicit parametric solutions for robust pole assignment were successfully derived.
• The proposed method effectively improves the robustness of closed-loop systems.
• Computational algorithms were demonstrated to be effective for systems with singular or nonsingular mass matrices.

Conclusions:

• The combined velocity and acceleration feedback approach offers a robust solution for pole assignment in second-order systems with singular mass matrices.
• The derived parametric expressions and algorithms provide a practical and effective method for control system design.
• This approach enhances the applicability of control strategies in real-world engineering problems.