Design of robust PID controllers using decoupling at singular frequencies

被引：41
|
作者：
Bajcinca, Naim [1 ]
机构：
[1] DLR, Inst Robot & Mechatron, Oberpfaffenhofen, Germany
来源：
AUTOMATICA | 2006年 / 42卷 / 11期
关键词：
PID; stabilization; PID decoupling; singular frequencies; robust control;
D O I：
10.1016/j.automatica.2006.06.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Algorithms for computation of the total set of PID stabilizers based on decoupling of PID parameter space at singular frequencies are presented. Nonconvex stability regions are built up by convex polygonal slices. Two problems are thereby discriminated: (A) assertion of k (P)-intervals with stable polygons and (B) automatic detection of stable polygons for a fixed k (P). This paper includes solutions to both problems. The methods apply also for robust PID stabilization of a multi-model uncertainty. (c) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1943 / 1949
页数：7
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