Controller Designed by Means of Numeric Methods for a Benchmark Problem: RTAC (Rotational Translational Actuator)

摘要

A nonlinear benchmark problem, very interesting due to interaction between translational and rotational movements is the RTAC system (also called TORA). Diverse control techniques in several previous papers have been dedicated to it. The present work proposes, by means of a straightforward procedure, a controller design based on an approach of RTAC system, using numerical methods, so that the system tends to origin after being displaced of this position. The control signal is calculated through the resolution of a linear equations system. Computer simulations show that the performance is comparable and in some aspects better than the one obtained with more complicated controllers.