Modeling and Control of Mechatronic Systems by Decentralized Descriptor Systems
Peter C. Müller, Thomas Raste · 1995
Mechatronic systems in descriptor form arise very naturally and conveniently when various subsystems are composed to a complete overall system. Usually the descriptor model is transformed into state-space form. The alternative approach presented in this paper is based directly on the descriptor form. Because of severe requirements concerning real-time and safety aspects, the mechatronic system is separated into interconnected subsystems. The control concept is based on compensating these interconnections by local feedback including decentralized observers. Controlling the motion of a vehicle convoy demonstrates the design procedure.