| Títol: | Gain-scheduled Smith proportional-integral derivative controllers for linear parameter varying first-order plus time-varying delay systems |
| Autor: | Bolea Monte, Yolanda
Puig Cayuela, Vicenç
Blesa Izquierdo, Joaquim |
| Altres autors/autores: | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
| Matèries: | Àrees temàtiques de la UPC::Informàtica::Automàtica i control
PID controllers
Controladors PID |
| Tipus de document: | Article |
| Descripció: | Practical control problems often deal with parameter-varying uncertain systems that can be described by a first-orderplus-
delay (FOPD) model. In this paper, a new approach to design gain-scheduled robust linear parameter varying (LPV)
propotional–intergral derivative controllers with pole placement constraints through linear matrix inequalities (LMI) regions
is proposed. The controller structure includes a Smith Predictor (SP) to deal with the delays. System parameter variations are
measured online and used to schedule the controller and the SP. Although the known part of the delay is compensated with
the ‘delay scheduling’ SP, the proposed approach allows to consider uncertainty in the delay estimation. This uncertainty is
taken into account in the controller design as an unstructured dynamic uncertainty. Finally, two applications are used to
assess the proposed methodology: a simulated artificial example and a simulated physical system based on an open canal
system used for irrigation purposes. Both applications are represented by FOPD models with large and variable delays as well
as parameters that depend on the operating conditions.
1 Introduction
Although the control community has developed new and, in
many aspects, more powerful control techniques (e.g. H1
robust control) during the last few decades, the
propotional–intergral derivative (PID) controller is still
used in many of the real-world control applications. The
reason is the simplicity and the facility to tune using
heuristic rules [1]. On the other hand, advanced controllers
designed with the aid of H1 robust control techniques are
usually of high order, difficult to implement and virtually
impossible to re-tune online. Furthermore, if implementation
issues have been overlooked, they can produce extremely
fragile controllers (small perturbations of the coefficients
of the controller destabilise the closed-loop control system
[2, 3]).
Since the 1960s, the empirical (or classical) gainscheduling
(GS) control [4–6] has been used for controlling
non-linear and time-varying systems. But, this control
methodology achieves closed-loop stability, without
guarantees, for slowly varying parameters [7]. In order to
overcome this deficiency, linear parameter-varying gainscheduling
(LPV GS) controllers are introduced to allow
arbitrarily smooth
Postprint (published version) |
| Altres identificadors i accés: | Bolea, Y.; Puig, V.; Blesa, J. Gain-scheduled Smith proportional-integral derivative controllers for linear parameter varying first-order plus time-varying delay systems. "IET control theory and applications", 08 Desembre 2011, vol. 5, núm. 18, p. 2142-2155.
1751-8644
http://hdl.handle.net/2117/14946
10.1049/iet-cta.2010.0088 |
| Disponible al dipòsit: | E-prints UPC
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