Integrated system identification and PID controller tuning by frequency loop-shaping

Grassi, E.; Tsakalis, K.; Dash, S.; Gaikwad, S.V.; MacArthur, W.; Stein, G.

doi:10.1109/87.911380

Cited by 71 publications

(29 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Son de especial interés, no obstante, los planteamientos que conducen a problemas convexos, dado que esto permite la aplicación de herramientas de optimización potentes y eficientes. Dentro de estos planteamientos destacamos los dos siguientes: métodos con base en formulaciones LMI y que soportan una formulación multimodelo de la incertidumbre y, por otra parte, métodos con base en "loop-shaping" y que obedecen, a descripciones no estructuradas de la incertidumbre (algunas de ellas soportando, también, formulaciones multimodelo) (Grassi et al, 2001;Blanchini et al, 2004).…”

Section: En Trabajos Inicialesunclassified

Control PID robusto: Una visión panorámica

Vilanova

Alfaro

2011

Revista Iberoamericana de Automática e Informática Industrial R

View full text Add to dashboard Cite

En este trabajo se presenta una perspectiva general de los diferentes enfoques existentes, con que se ha afrontado el problema de obtener un controlador proporcional integral derivativo (PID) robusto. La estructura restringida y muy particular que impone el controlador PID, supone por un lado, un atractivo que ha sido la causa de su extenso uso en el sector industrial, pero por el otro, impone una serie de dificultades al plantear la incorporación de consideraciones de robustez en su diseño. Hoy en día, el abanico de posibilidades de diseño de un controlador PID es realmente amplio, pudiendo afrontarse con prácticamente cualquier enfoque, en concreto con cualquier enfoque de control robusto. A este respecto, es importante distinguir entre los métodos y las reglas de sintonía, siendo de especial interés en el caso del controlador PID, la generación de reglas de sintonía a la vez simples y que proporcionen ciertas garantías de robustez. Como paso previo a esta clasificación, conviene establecer de qué manera se representa y mide la robustez. Por lo tanto, de qué manera acaba formulándose como especificación de diseño. El trabajo repasa también, conceptos aparecidos recientemente en la literatura del control PID y relacionados con la robustez, como son el cumplimiento de la misma y la fragilidad del controlador.

show abstract

Section: En Trabajos Inicialesunclassified

Control PID robusto: Una visión panorámica

Vilanova

Alfaro

2011

Revista Iberoamericana de Automática e Informática Industrial R

View full text Add to dashboard Cite

show abstract

“…On the other hand, the dynamic term u qd (k) cannot be straightforwardly obtained. By using the relation     and the previous result [9], [10] , β(k) can be computed by using the following equation:…”

Section: Discrete-time Controller Designmentioning

confidence: 99%

Robust Digital Speed Control Scheme of Permanent Magnet Synchronous Motor

Jung

Choi²

2011

The Transactions of the Korean Institute of Power Electronics

View full text Add to dashboard Cite

This paper proposes a robust digital speed regulator for a surface-mounted permanent magnet synchronous motor(SPMSM). The proposed speed controller uses a simple digital load disturbance resistance scheme which does not require a load torque observer, so it can be easily and simply implemented without degrading the control performance. To validate the effectiveness of the proposed control algorithm, experimental results as well as simulation results are shown under motor parameter variations using a prototype SPMSM driving system. Finally, it was confirmed that the proposed method can precisely regulate the speed of the SPMSM.

show abstract

“…In the following, we present the application of direct

{scriptH}_{MathClass-rel\infty}

adaptation to the tuning of PID parameters with a loop‐shaping objective. The off‐line version of ‘frequency loop shaping’ (FLS) with a bandwidth specification was first described in and has produced reliable results in a variety of applications . The generation of feasible and reasonable target loops can be further refined using linear quadratic regulation formulation or a full‐order

{scriptH}_{MathClass-rel\infty}

loop‐shaping controller.…”

Section: Introductionmentioning

confidence: 99%

Approximate loop shaping in PID parameter adaptation

Tsakalis

Dash

2012

Adaptive Control & Signal

View full text Add to dashboard Cite

This paper discusses the use of H-infinity approximation for the online adaptation of PID controller parameters. For a frequency loop-shaping control objective, it is possible to adapt the PID parameters directly with linear model estimation algorithms. Standard least squares algorithms are common solutions for this problem, but their estimates exhibit a well-known strong dependence on the properties of the excitation. This drawback becomes more pronounced for systems where the modeling mismatch is large, as is frequently the case in PID control. In an alternative formulation of the estimation problem, we use a filter-bank to decompose the error signal to different components and minimize approximately the H-infinity norm of the sensitivity-weighted error operator. This approach results in a more consistent estimate of the optimal PID parameters, at the expense of higher excitation requirements. It also allows for the computation of a 'health indicator' to describe the confidence in the estimated parameters. The practical implication of this observation is that PIDs can be tuned more reliably, even in cases of large mismatch between the target and the feasible loop shapes. It also suggests a general theme where a min-max optimization of an operator error provides an advantage over signal error optimization. The key aspects of the algorithm are illustrated by numerical examples.APPROXIMATE H 1 LOOP SHAPING 137 ‡ Note that, although parsimony is not a strict requirement in adaptive control (e.g., over-parametrized controllers), the robustness of such schemes is questionable at best. § Situations of insufficient excitation are not of interest here, because we have shown that they are prone to large parameter misadjustment and adaptation bursting in the pre-sense of arbitrarily small disturbances [25].Notice that, because of the special PID structure, the estimation error has the familiar linear-in-theparameters formnew cost functional is quadratic in Â kC1 and can be written as follows, regardless of the update method for Â k142 K. S. TSAKALIS AND S. DASHwhere S and P are the gradient and Hessian of the functional J and can be computed recursivelyThe descent direction is now computed by solvingwhere I is the set of indices for which the partial costs are 'close' to the maximum, for example, within 10%. This is carried out to prevent the subsequent line search from producing zero step size caused by the non-smooth boundary of the constraints (other computations of a descent direction are also possible). It is the use of the expression (5) that this computation is fairly simple and can be performed by finding the unconstrained solution and then projecting on the constraint set. Finally, given the descent direction Â kC1 , we compute the step size by solving the line-search problem opt D arg min

show abstract

Integrated system identification and PID controller tuning by frequency loop-shaping

Cited by 71 publications

References 14 publications

Control PID robusto: Una visión panorámica

Control PID robusto: Una visión panorámica

Robust Digital Speed Control Scheme of Permanent Magnet Synchronous Motor

Approximate loop shaping in PID parameter adaptation

Contact Info

Product

Resources

About