Model Based Adaptive Piecewise Linear Controller for Complicated Control Systems

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td align="left">Method</td><td align="center">GM</td><td align="center"><svg height="11.7988pt" id="M250" style="vertical-align:-5.588641pt" version="1.1" viewbox="-0.0498162 -6.21016 18.0153 11.7988" width="18.0153pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M615 290C615 392 563 448 529 448C511 448 491 441 484 434L483 425C518 400 546 349 546 273C546 158 504 46 417 46C381 46 356 77 356 142C356 184 380 293 392 334L387 340L307 323C305 288 296 228 287 188C265 94 221 52 180 52C144 52 112 89 112 171C112 278 164 372 241 430L226 454C106 394 23 288 23 155C23 40 79 -12 139 -12C184 -12 245 32 285 85C292 31 322 -12 376 -12C423 -12 470 18 501 45C570 104 615 184 615 290Z" id="g113-246"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="638" vert-adv-y="638"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,8.305,3.264)"><path d="M390 111C344 68 312 56 269 56C212 56 118 102 118 241C118 346 175 401 241 401C277 401 312 388 342 360C350 352 355 349 361 349C372 349 394 371 394 392C394 403 391 411 378 422C362 436 329 449 288 449H287C250 449 190 432 138 392C71 341 37 274 37 197C37 90 112 -12 238 -12C297 -12 363 32 407 90L390 111Z" id="g190-100"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="423" vert-adv-y="423"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,12.383,3.264)"><path d="M169 380V459C122 440 66 423 24 416V392C86 384 90 382 90 317V-135C90 -201 81 -207 17 -213V-240H253V-213C176 -207 169 -201 169 -125V6C182 -1 208 -11 238 -12C368 12 487 109 487 260C487 358 421 449 310 449C298 449 279 444 261 433L169 380ZM169 346C196 367 237 389 269 389C341 389 403 329 403 221C403 109 347 37 263 37C228 37 191 53 169 76V346Z" id="g190-113"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="524" vert-adv-y="524"></glyph.data></g></svg> (Hz)</td><td align="center">PM (deg.)</td><td align="center"><svg height="11.9702pt" id="M251" style="vertical-align:-5.76004pt" version="1.1" viewbox="-0.0498162 -6.21016 17.4156 11.9702" width="17.4156pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M615 290C615 392 563 448 529 448C511 448 491 441 484 434L483 425C518 400 546 349 546 273C546 158 504 46 417 46C381 46 356 77 356 142C356 184 380 293 392 334L387 340L307 323C305 288 296 228 287 188C265 94 221 52 180 52C144 52 112 89 112 171C112 278 164 372 241 430L226 454C106 394 23 288 23 155C23 40 79 -12 139 -12C184 -12 245 32 285 85C292 31 322 -12 376 -12C423 -12 470 18 501 45C570 104 615 184 615 290Z" id="g113-246"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="638" vert-adv-y="638"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,8.305,3.264)"><path d="M390 111C344 68 312 56 269 56C212 56 118 102 118 241C118 346 175 401 241 401C277 401 312 388 342 360C350 352 355 349 361 349C372 349 394 371 394 392C394 403 391 411 378 422C362 436 329 449 288 449H287C250 449 190 432 138 392C71 341 37 274 37 197C37 90 112 -12 238 -12C297 -12 363 32 407 90L390 111Z" id="g190-100"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="423" vert-adv-y="423"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,12.317,3.264)"><path d="M463 437C426 431 375 425 327 422C297 440 264 449 231 449H230C153 449 51 396 51 283C51 215 94 168 139 149C123 129 91 103 51 88C50 78 53 60 62 46C75 25 100 2 136 -9C112 -28 73 -59 53 -79C38 -94 29 -113 29 -135C30 -192 91 -257 203 -257C336 -257 452 -160 452 -59C452 39 371 59 309 59C275 59 240 58 203 58C158 58 140 77 140 96C140 110 157 129 170 138C186 135 205 133 221 133C306 133 396 185 396 293C396 328 384 360 366 381L423 378C439 387 459 413 468 429L463 437ZM219 418C277 418 314 362 314 284C314 205 275 166 231 165C176 165 137 221 137 299C137 376 177 418 219 418ZM241 -11C285 -11 314 -14 339 -24C367 -36 384 -61 384 -95C384 -157 335 -206 240 -206C166 -206 108 -165 108 -110C108 -82 128 -54 154 -32C172 -17 195 -11 241 -11Z" id="g190-104"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="468" vert-adv-y="468"></glyph.data></g></svg> (Hz)</td><td align="center">Rise time (sec)</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td align="left">Optimization</td><td align="center">9.05</td><td align="center">50.03</td><td align="center">69.35</td><td align="center">8.13</td><td align="center">0.0202</td></tr><tr><td align="left">Adaptive gain</td><td align="center">9.19</td><td align="center">49.73</td><td align="center">69.35</td><td align="center">8.13</td><td align="center">0.0124</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Gain/phase margins, phase/gain crossover frequencies, and rise times.

Journal of Applied Mathematics

tab5

Table 5

Table 5: Model Based Adaptive Piecewise Linear Controller for Complicated Control Systems 