Effects of Colocation and Non-Colocation of Sensors and Actuators on Flexible Structures
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING
Pagination or Media Count:
This thesis compares the performance and robustness of colocated and non-colocated sensoractuator pairs. Linear quadratic Gaussian and loop transfer recovery LOGLTR procedures are used to design optimum controllers for three example problems. The first example is a single motion degree-of-freedom system having motion only about one axis. This type of system does not have any right half plane zeros for the non-colocated case however, the thesis shows it behaves as a non minimum phase system. The second example is a Bernoulli-Euler beam which does not have RHP zeros. An optimum LOGLTR controller can not improve the robustness of non minimum phase systems whereas, colocated systems are easy to stabilize and make robust with LTR. However, this thesis shows that non colocated systems can achieve higher bandwidth and performance. So, each system has its own advantage.