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Extra info for Advanced Control Tools and Methods [for nuclear powerplants]
Output signal from nonlinear actuator with dead zone compensation. 3e. Backlash Inverse Backlash is a common problem in actuators which use gears. The backlash in the system makes precise positioning difficult. In this section we develop the backlash algorithm and demonstrate its effectiveness. 8 will be used to represent the meshing of gear teeth (although slightly exagerated for clarity). In this figure object A represents the (gear) tooth that is driving object B. As A moves to the right, it will come into contact with object B, which will begin to move to the right.
We have attempted to develop a robust adaptive observer for the UTSG level control but due to time constraints it is not complete at this time. For various techniques on robust adaptive observer and optimum controller please refer to  and  respectively. 2 2. Model Development A steam generator shows complicated dynamic behaviors with nonlinear characteristics. Some theoretical models based on thermodynamic experiments and/or energy conservative equations have been developed to use for operator training simulator and accident analysis and so on.
The variable G3 is positive. We divide the steam generator dynamics into four linearized regions with respect to operating power level and assume that the dynamics vary linearly over these regions. These variations of the plant parameters with respect to power level are presented in th graphical form. The actual plant parameters may vary differently, so we study the performance of the controller under the situations when the parameter drifts from what is projected by linear interpolation. Systematic approaches such as LQR method is used to derive the control law where some objectives functions are minimized to derive an optimal controller.