Robust tracking design for uncertain MIMO systems using proportional–integral controller of order v. Issue 5 (17th August 2020)

• Record Type: Journal Article
• Authors: Celentano, Laura; Basin, Michael V.; Chadli, Mohammed
• Is Part Of: Asian journal of control. Volume 23:Issue 5(2021)
• Page Start: 2042
• Page End: 2063
• Publication Date: 2020-08-17
• Subjects: Cartesian robots -- PIν controller -- processes with unmeasurable states -- robust tracking method -- systems with additional bounded nonlinearities -- uncertain linear time‐invariant (LTI) MIMO systems; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.2405
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: This paper provides a systematic method to design robust tracking controllers of reference signals with bounded derivatives of order ν for uncertain multi‐input multi‐output (MIMO) systems with bounded parametric uncertainties, in particular, of rational multi‐affine type, and/or in presence of disturbances with bounded derivatives of order ν . The proposed controllers have state‐feedback structures combined with proportional–integral regulators of order ν ( PI ν ). Theoretical tools and systematic methodologies are provided to effectively design robust controllers for the considered systems, also in case of additional bounded nonlinearities and/or not directly measurable states. Applicability and efficiency of the proposed methods are validated through three examples: the first one is theoretical and useful to validate the proposed methodology, the second case study presents a metal‐cutting problem for an industrial robot, and the third example deals with a composite robot, such as a milling machine.