Title :
Design of a robust controller using only output feedback to solve the servomechanism problem
Author_Institution :
Dept. of Electr. Eng., Oriental Inst. of Technol., Pan-Chiao, Taiwan
Abstract :
The design of a robust controller using only output feedback to solve the servomechanism problem is considered. A PI control algorithm and a sliding-mode control design are combined to alleviate system uncertainties and to solve the output regulation problem. A reduced-order observer for the transformation matrix is proposed to estimate the system states, and a control law is designed with respect to the estimated signals. Asymptotic regulation is also satisfied by using the estimated states in the controller. A numerical example is presented to demonstrate the applicability of the proposed control scheme.
Keywords :
control system synthesis; feedback; matrix algebra; robust control; servomechanisms; state estimation; two-term control; uncertain systems; variable structure systems; PI control algorithm; asymptotic regulation; output feedback; reduced-order observer; robust controller design; servomechanism problem; sliding-mode control design; transformation matrix; uncertainties;
Journal_Title :
Control Theory and Applications, IEE Proceedings -
DOI :
10.1049/ip-cta:20030081