Asymptotic tracking and disturbance rejection of time-varying signals with a discontinuous PID controller

被引：0
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作者：
Moreno, Jaime A. [1 ]
机构：
[1] Instituto de Ingeniería, Universidad Nacional Autónoma de México (UNAM), Coyoacán, Ciudad de México,04510, Mexico
来源：
Journal of Process Control | 2020年 / 87卷
关键词：
A novel non linear PID controller is introduced in this paper; which has a discontinuous integral term. It is able to robustly asymptotically track any time-varying reference while rejecting perturbations with bounded derivatives for uncertain SISO nonlinear plants of well-defined relative degree two and with bounded zero dynamics. This is achieved because the discontinuous integral term takes the role of a universal internal model for this class of references and perturbations. The proposed controller is compared with a well established solution for this problem in the literature to illustrate its advantages. The main benefit is possibly the simplicity of the controller structure and its universality; since it applies to a large class of plants; references and perturbations without modifications. © 2020;
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页码：79 / 90
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