Robust discrete Generalized Proportional Integral Control: Application in mechanical systems

Author

Luviano-Juarez, Alberto ; Cortes-Romero, John ; Sira-Ramirez, Hebertt

Author_Institution

Dept. de Ing. Electr., CINVESTAV-IPN, Mexico City, Mexico

fYear

2009

fDate

23-26 Aug. 2009

Firstpage

3893

Lastpage

3898

Abstract

We tackle the problem of controlling a mechanical system by means of a robust discrete-time linear predictive control which is the discrete time version of the Robust Generalized Proportional Integral Control. It is assumed that the model uncertainties and external disturbances are bounded and bandlimited, so that they can be modeled by means of a polynomial approximation which needs to be rejected. The controller efficiency is proven by means of experimental results in a trajectory tracking task under disturbance inputs.

Keywords

PI control; discrete time systems; linear systems; predictive control; robust control; shock absorbers; uncertain systems; vibration control; bounded-bandlimited external disturbances; bounded-bandlimited model uncertainties; controller efficiency; disturbance inputs; mass-spring-damper system; mechanical system control; polynomial approximation; robust discrete generalized proportional integral control; robust discrete-time linear predictive control; trajectory tracking task; Approximation methods; Mathematical model; Mechanical systems; Polynomials; Robustness; Springs; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2009 European

Conference_Location

Budapest

Print_ISBN

978-3-9524173-9-3

Type

conf

Filename

7075007