This study investigates a modified electromechanical actuator for a guided ammunition fin control system. This modification, which is required due to space limitations, is the use of an eccentric type inverted slider crank mechanism instead of a centric type inverted slider crank mechanism. Brushless DC motor-driven mechanism is modeled experimentally. Using the obtained model, the H∞ type robust position controller is synthesized in the simulation environment and applied to the real system in hardware in the loop tests. The effectiveness of the proposed mechanism and the performance of the synthesized robust position controller are verified by comparing the pre-determined performance requirements and the obtained tests results. It has been shown that for a constant volume, the eccentric type mechanism provides about a 7.6% reduction ratio advantage over the centric type mechanism.

Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions-in a variety of forms-have been used to obtain safety guarantees for uncertain systems. Yet the differing types of uncertainty experienced in practice have resulted in a fractured landscape of robustification-with a variety of instantiations depending on the structure of the uncertainty. This paper proposes a framework for generalizing these variations into a single form: parameterized barrier functions (PBFs), which yield safety guarantees for a wide spectrum of uncertainty types. This leads to controllers that enforce robust safety guarantees while their conservativeness scales by the parameterization. To illustrate the generality of this approach, we show that input-to-state safety (ISSf) is a special case of the PBF framework, whereby improved safety guarantees can be given relative to ISSf.

Control performance degradation is inevitable due to unmodeled dynamics and the requirement of using small set of parameters in parametric models. In this study, a frequency domain data-driven fixed-order [Formula: see text] controller synthesis approach is introduced to solve above mentioned problem for linear systems. In our approach, the generalized plant is identified by using experimental data obtained from closed-loop tests. The transfer function of the structured [Formula: see text] controller is synthesized by using only the frequency response of the plant without the need of a parametric model. The presented approach is verified experimentally for position control of an electromechanical control actuation system with proportional-derivative (PD) type controller.

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The regulation of output voltage and equivalent distribution of phase currents of multi-phase converters which have non-minimum phase characteristic are still challenges, especially in the presence of uncertainties in real parameters, duty cycle, input voltage, and load disturbances. However, in classical third-order integral-lead (Type-III) controller design methodologies, the controller is synthesized considering only the nominal performance conditions. This paper proposes a structured [Formula: see text] synthesis framework based on an optimization methodology to the design of a robust Type-III controller for interleaved boost converters. The structured [Formula: see text] control approach is adapted for optimization of Type-III feedback and feedforward controllers in two-degree-of-freedom (2-DOF) control system configuration. The robust stability of the closed-loop interleaved boost converter system against model uncertainties is ensured via the classical [Formula: see text]-analysis technique. Numerical comparisons are made among the classical, i.e. unstructured or full order, [Formula: see text]-based controller design method, a dual-loop PI controller, and proposed 1-DOF and 2-DOF structured controller synthesis approaches on an interleaved boost converter model. Simulation results verify the effectiveness and advantages of the proposed approach from the viewpoint of the output voltage regulation under different disturbance points.