H∞ PID controller design for Lur'e systems and its application to a ball and wheel apparatus

被引:14
作者
Ho, MT [1 ]
Lu, JM [1 ]
机构
[1] Natl Cheng Kung Univ, Dept Engn Sci, Tainan 701, Taiwan
关键词
D O I
10.1080/00207170412331326864
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we consider the problem of synthesizing proportional-integral- derivative (PID) controllers for a given Lur'e system in the presence of exogenous energy-bounded disturbance. Based on the circle criterion, sufficient conditions for guaranteeing closed-loop absolute stability and achieving disturbance attenuation are given in terms of the multi-objective H-infinity specifications. The results from the earlier work are then used to solve the resulting multi- objective H-infinity PID design problem. It is shown that for a fixed proportional gain, and by sweeping over a variable, the set of admissible integral and derivative gain values can be determined constructively using linear-programming techniques. The proposed synthesis method is used to design a PID controller for the ball and wheel system and the experimental results are presented to show effectiveness of the proposed method.
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页码:53 / 64
页数:12
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