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1、AStudyofIterativeandAdaptiveControlMethodsforMechanicalSystemswithParametricUncertaintiesMarch2008NILKHAMHANG,ItthisekDISSERTATIONSubmittedtotheSchoolofIntegratedDesignEngineering,KeioUniversity,inpartialfulfullmentoftherequirementsforthedegreeofDoctorofPhiloso
2、phyTomyfamilyanddearfriendsiAbstractInindustrialapplications,systemengineersoftenencounterthedauntingtaskofdesigningcontrollersforunknownoruncertainsystems.Thecomplexityofthisprocesscanbegreatlyincreasedbythemagnitudeofthesystemandthepresenceofnonlineardynamics
3、.Adaptiveanditerativecontroltheorieshaveemergedasapowerfultooltodesigne?cientandrobustcontrollers,despitethislackofinformation.Theyhavebeensuccessfullyappliedthroughoutawiderangeofengineeringdisciplinetoachievedesiredperformanceandprovideinformationaboutparamet
4、ricallyuncertainsystems.Asavitalcomponentofmostindustrialprocesses,thecontrolofmechanicalsystemshasgeneratedimmenseresearchinterest.Whileadaptiveanditerativecontrolalgorithmshavebeenusedtoresolvemanyissues,thereremaintothisdaycountlesstopicsthatmustbeaddressedb
5、yadiligentandknowledgeablesystemengineer.Itisthereforetheobjectiveofthisthesistoexplorethevariousissuesinvolvedwithadaptiveanditerativecontrolofparametricallyuncertainmechanicalsystems.Thefocusofthisstudyisnarrowedbyconsideringthreespeci?capplications,eachrepre
6、sentingdi?erentaspectsofthegeneralcontrolproblem:iterativecontrolofanunknownmulti-massmotorsystem;adaptivecontrolofvehicularsuspensionsystems;androbustadaptivefrictioncompensation.Chapter1beginswithanintroductiontothecontrolproblemofparametricallyuncertainmecha
7、nicalsystems.ThisiselaboratedinChapter2,whichprovidesaliteraturereviewofexistingcontrolmethodsformulti-masstorsionalmotors,vehicularsuspensionsystemsandfrictioncompensation,alongwithmathematicalpreliminariesthatareutilizedthroughoutthethesis.Themotivationofthis
8、researchispresentedindetail.TheresultsofthisstudyarepresentedinChapter3to5.First,alinear,two-masstorsionalmotorsystemwithparametricuncertaintiesisconsideredinChapter3.Anovel
