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In this paper, a new approach to design a robust gain scheduled linear parameter varying (LPV) PID
controller with pole placement constraints (through LMI regions) is proposed for LPV systems with second order
structure and time-varying delay. The controller structure includes a Smith predictor, real time estimated parameters
that schedule the controller and Smith predictor (using the known part of the delay) and unstructured dynamic
uncertainty which covers the delay uncertainty. Finally, the proposed control technique is validated in a real case study
based on a piece of a sewer system.
CitationPuig, V.; Bolea, Y.; Blesa, J. Robust gain-scheduled Smith PID controllers for second order LPV systems with time varying delay. A: IFAC Conference on Advances in PID Control. "IFAC Conference on Advances in PID Control". Brescia: 2012, p. 1-6.
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