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| Titel: |
H∞ PID controller design for Lur'e systems and its application to a ball and wheel apparatus |
| Auteur: |
Ho, Ming-Tzu Lu, Jun-Ming |
| Verschenen in: |
International journal of control |
| Paginering: | Jaargang 78 (2005) nr. 1 pagina's 53-64 |
| Jaar: |
2005-01 |
| Inhoud: |
In this paper, we consider the problem of synthesizing proportional-integral-derivative (PID) controllers for a given Lur'e system in the presence of exogenous energy-bounded disturbance. Based on the circle criterion, sufficient conditions for guaranteeing closed-loop absolute stability and achieving disturbance attenuation are given in terms of the multi-objective H∞ specifications. The results from the earlier work are then used to solve the resulting multi-objective H∞ PID design problem. It is shown that for a fixed proportional gain, and by sweeping over a variable, the set of admissible integral and derivative gain values can be determined constructively using linear-programming techniques. The proposed synthesis method is used to design a PID controller for the ball and wheel system and the experimental results are presented to show effectiveness of the proposed method. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
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