Self-tuning control for rotational speed of slider-crank mechanism

This paper proposes a self-tuning control method based on generalized minimum variance control for rotational speed control of a slider-crank mechanism. Dynamic characteristics of the slider-crank mechanism significantly changes depending on the wheel rotational angle. Thus, to achieve a good control performance, it is necessary for the plant parameters to be identified at the each section divided into six by the wheel angle. This kind of control based on the local modeling is useful not only for such a slider-crank mechanism but also for highly-accurate positioning control systems with significant nonlinearity. The validity of the proposed method is verified through simulations and experiments.