A novel approach for robust PID synthesis for uncertain systems

Gonçalves, Eduardo Nunes; Palhares, Reinaldo M.; Takahashi, Ricardo H. C.

doi:10.1016/j.jprocont.2007.06.003

Cited by 61 publications

(33 citation statements)

References 23 publications

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“…H 2 =H 1 methods have been applied in the design of chemical engineering process controllers (Bao et al, 1999;Chen et al, 2002;Ge et al, 2002;Toscano, 2005;Goncalves et al, 2008). Bao et al (1999) proposed an application of LMIs for the design of a MIMO PID controller applied to a distillation column.…”

Section: Article In Pressmentioning

confidence: 99%

“…This study showed the dependence of transient response of the control system designed with LMIs on weighting function selection (Saeki, 2006). Ge et al (2002), Toscano (2005) and Goncalves et al (2008), studied the control of a continuous stirred tank reactor (CSTR), which dynamic was described by Uppal et al (1974). Ge et al (2002) applied a classical PID algorithm and founded the control parameters in such way that the H 2 and H 1 norms are kept under a desired value using LMIs.…”

Section: Article In Pressmentioning

confidence: 99%

“…Even more, some non-linear controllers have PID configuration, like the proposed by Alvarez et al (1989) which structure corresponds to a PI controller with gain and integral time as functions of state variables. Furthermore, the robustness properties of PI and PID algorithms have been demonstrated (Bao et al, 1999;Alvarez et al, 1998;Chen et al, 2002;Ge et al, 2002;Toscano, 2005;Ruiz-Ló pez et al, 2006;Xiong et al, 2007;Goncalves et al, 2008). The PID control action is a particular case of a general linear controller, and therefore a higher order linear controller must keep and may improve its performance and robustness characteristics.…”

Section: Introductionmentioning

confidence: 99%

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A design method for robust and quadratic optimal MIMO linear controllers

Garcı́a-Alvarado

Ruiz-López

2010

Chemical Engineering Science

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Section: Article In Pressmentioning

confidence: 99%

Section: Article In Pressmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A design method for robust and quadratic optimal MIMO linear controllers

Garcı́a-Alvarado

Ruiz-López

2010

Chemical Engineering Science

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“…Some approaches state the design problem as an analytical/numerical optimisation procedure [14,51,15,2,36], or as an evolutionary optimisation statement [24,22,23]. In both cases, a variety of specifications with several requirements and specifications must be faced.…”

Section: Introductionmentioning

confidence: 99%

Multiobjective evolutionary algorithms for multivariable PI controller design

Reynoso-Meza

Sanchis

Blasco

et al. 2012

Expert Systems with Applications

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“…The guaranteed cost control presented with a new quadratic cost function including the derivative term for state vector as a tool to influence the overshoot and response rate [10]. Using LMI approach to design a robust PID controller presented [11], [12], [13]. On other hand, Liang et.al [14] implemented a fuzzy adaptive PID controller whose duty is to make sure the uncertainty and nonlinearities of…”

mentioning

confidence: 99%

System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator

2014

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This paper presents investigations into the development of a linear matrix inequalities (LMI) based robust PID control of a nonlinear Two-Link Flexible Manipulator (TLFM) incorporating payload. A set of linear models of a TLFM is obtained by using system identification method in which the Keywords: LMI, PID, system identification, two-link flexible manipulator IntroductionFlexible manipulator robots are used in a wide spectrum of applications starting from simple pick and place operations of an industrial robot to micro-surgery, maintenance of nuclear plants and space robotics [1]. Moreover, the dynamic behaviour of the manipulator is significantly affected by payload variations. If the advantages associated with lightness are not to be sacrificed, accurate models and efficient controllers for a TLFM have to be developed.The main goal of modelling of a TLFM is to achieve an accurate model representing the actual system behaviour. A good agreement between modelling and experiments has been achieved [2]. Zhou et.al [3] presents the neural network online modelling technology to approximate the system uncertain model a space manipulator. Dogan and Istefanopulos [4] have developed the finite element models to describe the deflection of a planar two-link flexible robot manipulator. De Luca and Siciliano [5] have utilised the AMM to derive a dynamic model of multilink flexible robot arms limiting to the case of planar manipulators with no torsional effects. Subudhi and Morris [6] have also presented a systematic approach for deriving the dynamic equations for n-link manipulator where two-homogenous transformation matrices are used to describe the rigid and flexible motions respectively.Newly emerging technique for optimising the controller parameters is the use at linear matrix inequalities (LMI). The works in formulating set of LMIs to overcome the effect on mismatched uncertainties in dynamic system has also surfaced in the literatures [7]. Since LMIs can be solved efficiently by standard numerical algorithms, this has prompted a great number of researchers to describe different control problems in terms of LMIs [8]. Bevrani and Hiyama [9] presented an LMI based robust control to maintain the robust performance and minimize the effect of disturbance and specified uncertainties of power system stabilizers.On the other hand, the important feature of LMI based robust PID design approach is that the derivative term at the controller appears in such a form that enables to consider the model uncertainties, to be considered in the design. Assuming the structured feedback matrix, this approach is appropriate for decentralized PID control design. The guaranteed cost control presented with a new quadratic cost function including the derivative term for state vector as a tool to influence the overshoot and response rate [10]. Using LMI approach to design a robust PID controller presented [11], [12], [13]. On other hand, Liang et.al [14] implemented a fuzzy adaptive PID controller whose duty is to make sure the uncert...

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A novel approach for robust PID synthesis for uncertain systems

Cited by 61 publications

References 23 publications

A design method for robust and quadratic optimal MIMO linear controllers

A design method for robust and quadratic optimal MIMO linear controllers

Multiobjective evolutionary algorithms for multivariable PI controller design

System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator

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