Researchers: Per-Olof Gutman, Mattias Nordin, Xiaoming Hu and Anders Lindquist.
Industrial contact: ABB Industrial Systems AB.
The aim of this project is to combine robust linear control with nonlinear control elements, implemented in a microprocessor, that alleviate the effects of the process nonlinearities. In particular electrical drives with friction, backlash and uncertain loads and disturbances are being studied. The emphasis is on applicable solutions, i.e. that the algorithms an methods should work in real life.
The project was concluded this year by Mattias Nordin submitting his Ph.D.-thesis entitled Non-linear Backlash Compensation for Speed Controlled Elastic Systems [T2]. The novel methods presented in the thesis are successfully being implemented in ABB electrical drive systems.
Research 1999/2000
Rational Nevanlinna-Pick interpolation with degree constraints
Semidefinite programming and structural optimization