Abstract—These In this paper, the control of the pneumatic actuator using Dahlin algorithm is proposed. Dahlin algorithm has problem which cause a steady-state error by an input-side disturbance for an integrator plant with time delay. In addition, it has problem which not ensure follow-up to a response model by parameter error of controller. To solve these problems, we introduce discrete-time IMC and iterative least squares technique. Our proposed method can remove a steady-state error caused by an input-side disturbance for an integrator plant with time delay by introducing discrete-time IMC and ensure follow-up to a response model by introducing iterative least squares technique. In the simulation, it is shown that the proposed method has a superior performance for an integrator plant with time delay. Furthermore, by applying the proposed method to a pneumatic actuator, the effectiveness of the method is examined and confirmed.
Index Terms—Dahlin algorithm, discrete internal model control, auto-tuning.
The authors are with School of Science and Technology, Meiji University, Kawasaki, Kanagawa, 214-8571, Japan. (e-mail:kimikawaguchi21@gmail.com).
Cite: K. Kawaguchi, J. Endo, H. Shibasaki, R. Tanaka, Y. Hikichi, and Y. Ishida, "The Control of the Pneumatic Actuator Using Dahlin Algorithm," International Journal of Modeling and Optimization vol. 3, no. 1, pp. 98-100, 2013.
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