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This paper presents the design of a control system suitable for EV DC bus voltage sag compensation based on the voltage PI controller and load current feedforward compensator. The superimposed PI controller and feedforward compensator references are distributed between the inner battery and ultracapacitor current-controlled DC/DC converters so that the ultracapacitor takes on the highly-dynamic (transient) current demands, while the battery covers for steady-state loads. In order to avoid deep discharges of the ultracapacitor, the DC bus control system is also equipped with auxiliary state-of-charge (SoC) controller. The functionality of the superimposed DC bus voltage control system and inner current and SoC control loops has been verified by means of simulations and experimentally on a downscaled battery/ultracapacitor experimental (HIL) setup.

This paper is concerned with the synthesis of proportional–integral–derivative (PID) controller according to the [Formula: see text] optimality criterion for seesaw-cart system. The equations of dynamics are obtained through modelling a seesaw-cart system actuated by direct-current motor via rack and pinion mechanism using the Euler–Lagrange approach. The obtained model is linearised and synthesis of the PID controller for linear model is performed. An algorithm based on the sub-gradient method, the Newton method, the self-adapting backpropagation algorithm and the Adams method is proposed to calculate the PID controller gains. The proposed control strategy is tested and compared with standard linear matrix inequality (LMI)-based method on computer simulations and experimentally on a laboratory model.

Abstract-In this paper, a RISE type of tracking controllers for a class of nonlinear mechanical systems is proposed. The proposed chattering-free controller provides global asymptotic tracking in the presence of external disturbances. The proof of global asymptotic stability is based on a novel approach to the construction of a Lyapunov function which is parameterized by a time-varying function of reference and disturbance vector. The explicit conditions on the controller gains to ensure global asymptotic tracking are obtained. The simulation results on a system of three inverted pendulums interconnected by two springs illustrate the performances of the proposed controller.