DocumentCode
490007
Title
A decentralized controller for the robust stabilization of a class of MIMO dynamical systems
Author
Tornambè, Antonio ; Valigi, Paolo
Author_Institution
Dipartimento di Ingegeria Elettronica, Seconda Universit? di Roma "Tor Vergata"
fYear
1992
fDate
24-26 June 1992
Firstpage
3284
Lastpage
3288
Abstract
This work deals with the problem of the robust stablization of a class of multi-input multi-output (MIMO) dynamical sytems. A simple decentralized controller is proposed, which reduces to the clasical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems.
Keywords
Content addressable storage; Control systems; Linear systems; MIMO; Nonlinear control systems; Robot kinematics; Robust control; Robustness; Steady-state; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792758
Link To Document