A DECENTRALIZED CONTROLLER FOR THE ROBUST STABILIZATION OF A CLASS OF MIMO DYNAMICAL-SYSTEMS

被引：53
作者：
TORNAMBE, A
VALIGI, P
机构：
[1] Dipartimento di Ingegneria Elettronica, Seconda Università di Roma, Roma
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1994年 / 116卷 / 02期
关键词：
D O I：
10.1115/1.2899223
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work deals with the problem of the robust stabilization of a class of multi-input multi-output (MIMO) dynamical systems. A simple decentralized controller is proposed, which reduces to the classical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems.
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页码：293 / 304
页数：12
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