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Multiple interconnected tanks supplied by more than one pump is a MIMO process which is quite common for industrial applications. Presently, Internal Model Control (IMC) technique is widely used in controlling industrial MIMO processes due to its sole tuning parameter. But, as the IMC technique is entirely based on the process model hence in case of any uncertainty in modeling, nonlinear interacting...
A problem of inner convex approximation of a stability domain is addressed in the paper for continuous-time linear control systems. A constructive procedure for generating stable cones of polynomials is provided. The main idea is based on the construction of so-called Routh rays (stable half-lines) starting from a given stable point. These lines serve as edges for the corresponding polyhedral Routh...
The paper presents the novel online tool for robust PID controller design RobCont that enables to design robust PID controllers and to analyze the stability of the closed-loop control performance in an advanced way. This tool is an extension of modular system WebPIDDESIGN, a complex framework that provides features of system identification, PID controller design, and evaluation of control quality...
The main objective of this contribution is a new development of the continuous-time generalised predictive control (CGPC) resulting in a Youla-based CGPC design procedure for both minimumphase and nonminimum-phase uncertain SISO systems. The derived design procedure consists of two steps. In the first step nominal stability and nominal performance of the control system are established by using a fully...
In this memory the ASIC tool (Ambient of Interactive Development of the Controller) is introduced. The software has been realised with the objective to supply an instrument for the aided synthesis of complex control systems. It is based on the polynomial approach of the direct synthesis and takes advantage of a number of properties of a particular class of polynomials: the Lipatov's polynomials. ASIC...
Various approaches to the mixed H2/H∞· control problem are proposed in the literature. The solution is often obtained by means of classical techniques (i.e. solving a Riccati problem) or by means of convex optimization procedures. With the aim to synthesize a fixed-structure controller for an uncertain plant, a global optimization approach to a single-input single-output (SISO) H2/H∞ problem is proposed...
The paper suggests the asymptotic stability condition for control systems characteristic polynomial families with interval coefficient perturbations and the method of their synthesis based on it. The combined approach of algebraic and analytical root locus methods is used.
A simple necessary condition for an interval polynomial to have all its zeros in the open unit disc is given. This condition provides a simple and quick test to detect many unstable discrete systems.
Recently, a compact characterization of scalar positive polynomials on the real line and on the unit circle was derived by Nesterov [3]. In this paper we show how to extend this result to pseudo-polynomial matrices, and also present a new proof based on the positive real lemma. The characterization is very similar to the scalar case and also allows the use of fast algorithms for computing the central...
This paper considers the problem of determining the minimum euclidean distance of a point from a polynomial surface in Rn. It is well known that this problem is in general non-convex. The main purpose of the paper is to investigate to what extent Linear Matrix Inequality (LMI) techniques can be exploited for solving this problem. The first result of the paper shows that a lower bound to the global...
This paper presents the application of a Generalized Predictive Controller (gpc) to sludge density control in a sugar factory. The loop is controlled by a cascade strategy, where both the master and the slave controllers are predictive ones. The control law is extremely simple to compute and the tuning is straightforward since a method to implement GPC previously developed by the authors which is...
In this paper, we study H∞ performance of interval systems. We show that, for an interval system, the maximal H∞ norm of its sensitivity function is achieved at twelve (out of sixteen) Kharitonov vertices. Furthermore, we study robustness of multivariable systems with parametric uncertainties, and establish a multivariable version of Edge Theorem. An illustrative example is presented.
A simple necessary condition and sufficient condition for robust Hurwitz stability of interval polynomial is obtained using the results of Nie [13] for fixed polynomials. These conditions provide a simple and quick test to detect many unstable systems. Furthermore, these conditions are used to derive a robust controller for interval plants which involves less computational complexity compared to extreme...
Standard analysis and synthesis techniques for digital control systems assume that the total time-delay in the feedback loop is negligible or precisely known. This might not be the case in some applications. Such systems are quite common in industry, especially due to strong trends towards networking. Under certain circumstances the network-induced delays can be considered constant, and yet it might...
The family of characteristic polynomials of a SISO-PID loop with N representative plant operating conditions is Pi = Ai(s)(KI; + Kps + KDs2) + Bi(s), i = 1,2…N. A basic task of robust control design is to find the set of all parameters KI, KP, KD, that simultaneously place the roots of all Pi(a) into a specified region Γ in the complex plane. For Γ in form of the left half plane it is known that the...
Adaptive controllers based on high gain feedback suffer from lack of robustness with respect to bounded disturbances. Existing modifications prevent the feedback gain from drifting, but introduce solutions that, even in the absence of disturbances, do not achieve regulation. In this paper a further modification that maintains the robustness and rules out undesirable solutions when disturbances are...
This paper achieves robust stabilization of self erecting cart pendulum system with continuous-time periodic controller. More precisely, the present work deals with the problem of global stabilization of a cart-pendulum system. First, an energy shaping algorithm is developed to bring up the pendulum to the close vicinity of its upright equilibrium point. The energy control technique employed here...
This paper investigates the performance of DC-DC PWM based buck-boost converter with two degree-of-freedom (2 DOF) control to meet the loop robustness goals as well as to shape the output voltage response according to requirement. The design technique of this controller is simpler than that of the robust control techniques, such as H∞, control, μ-synthesis, applied in literature for converters. Moreover,...
This technical note addresses the design of robust static output feedback controllers that minimize a polynomial cost and robustly stabilize a system with polynomial dependence on an uncertain vector constrained in a semialgebraic set. The admissible controllers are those in a given hyper-rectangle for which the system is well-posed. First, the class of robust stabilizability functions is introduced,...
This paper presents a new load frequency control (LFC) design using the coefficient diagram method (CDM). The CDM technique has been designed such that the effect of the uncertainty due to governor and turbine parameters variation and load disturbance is reduced. A frequency response dynamic model of a single-area power system is introduced, and physical constraints of the governors and turbines are...
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