Parameters Controller Selection Through Bifurcation Analysis in a Piecewise-smooth System

Eva Navarro Lopez, Eva M. Navarro-Lopez, D. Cortes, A. Bemporad (Editor), A. Bicchi (Editor), G. Buttazzo (Editor)

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    smooth (PWS) systems can be ineffective if an additional bifurcationanalysis is not made. Due to the presence of discontinuities,PWS systems present a wide variety of standard and non-standard bifurcations.Safe ranges of system and controller parameters can be establishedlest these bifurcations appear. This is studied by means of asimplified torsional model of an oilwell drillstring of three degrees offreedom (DOF). A PID-type controller is applied. The bifurcation analysisof the open-loop and the closed-loop systems is used to choose thecontroller parameters for which non-desired bit sticking situations areavoided. The control goal of driving the rotary velocities to a constantpositive value is achieved despite the existence of a sliding motion.
    Original languageEnglish
    Title of host publicationLecture Notes on Computer Science, LNCS 4416
    Subtitle of host publicationHybrid Systems Computation and Control, HSCC
    Place of PublicationBerlin Heidelberg
    PublisherSpringer Nature
    Number of pages5
    ISBN (Print)978-3-540-71492-7
    Publication statusPublished - 2007


    • Discontinuous systems
    • Sliding motions
    • Bifurcation analysis
    • Oilwell drillstrings
    • Dry friction
    • Stick-slip oscillations


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