Mixed sensitivity robust adaptive control in a one degree of freedom feedback configuration. Issue 13 (2018)

• Record Type: Journal Article
• Authors: Zamora, M.; Galindo, R.
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 13(2018)
• Page Start: 621
• Page End: 626
• Publication Date: 2018
• Subjects: Robust control -- adaptive control -- stabilizing controllers -- partially linearized systems -- non-linear uncertainties -- mixed sensitivity -- small gain Theorem; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.07.349
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: An on-line solution for a mixed sensitivity, robust control problem is presented as a method of auto tuning of the control parameters. Linear stabilizable and detectable Multi-Input Multi-Output (MIMO) plants are considered. This creates a bond between robust and adaptive control, keeping the benefits such as low frequency disturbance and high frequency unstructured attenuation in the resultant control system. The unstructured uncertainty is represented by a feedback uncertainty model. The analytic expressions of the controller are written in terms of a state space of the plant and the controller belongs to the parameterization of all stabilizing controllers. No model reference is needed for the auto-tuning process. The stability of the Mixed Sensitivity criterion is analyzed by the Small Gain Theorem using the measure of the signals of interest. In a similar way, the Small Gain Theorem for non-linear systems is used to assure the stability of the overall system with the auto-tuning process.