In order to deal with disturbance attenuation problem in the presence of norm bounded uncertainties, different techniques involving [Formula: see text]/[Formula: see text] and linear quadratic regulator (LQR) designs exist in literature. The major drawbacks of these approaches may be classified as obtaining controllers with high order terms and too much computational load during the controller design. Hence, two-degree-of freedeom (2-DOF) controller design is taken into consideration in this study in order to avoid some of these drawbacks in the controller design and implementation process for disturbance attenuation problem. Here, the procedure for the design of 2-DOF structure is divided into two parts: designing [Formula: see text] controller to stabilize the closed loop system and implementing a higher order sinusoidal input describing functions (HOSIDF)-based compensator as a secondary controller in order to increase the disturbance attenuation performance of the overall closed loop system where the norm bounded uncertainties already exist. Thanks to the Lur’e type system definition that is also used in the design process of HOSIDF compensator, the research also proves that the proposed 2-DOF design structure is suitable to be implemented into the systems involving nonlinearities such as actuator saturation.

No abstract

No abstract

Varying market demands and changes in production standards require production systems to be effortlessly modifiable and quickly operational. On the other hand, designing, developing, and testing the control system of a new production system prove costly and time-consuming. Therefore most engineers write codes intuitively and apply basic and insufficient tests. This study aims to develop a reusable and quickly implementable method that will accurately translate RTC program and the behavior of RTC in a modular Petri net model. Through this translated model the system and safety requirements written in the Computation Tree Logic can be verified. An advantage of this method is that it does not require a plant model which makes it reusable for new plants and provides a quick verification method for codes written intuitively. A case study is given to demonstrate the correctness of our method.

No abstract