6533b824fe1ef96bd1281462
RESEARCH PRODUCT
Robustness with Respect to Delay Uncertainties of a Predictor-Observer Based Discrete-Time Controller
Pedro CastilloRogelio LozanoPedro GarcíaPedro Albertossubject
0209 industrial biotechnologyEngineeringbusiness.industry02 engineering and technologySeparation principle020901 industrial engineering & automationRobustness (computer science)Control theory[INFO.INFO-AU]Computer Science [cs]/Automatic Control EngineeringDiscrete time controller0202 electrical engineering electronic engineering information engineering020201 artificial intelligence & image processingState observerObserver basedbusiness[INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineeringdescription
This paper focuses on the delay-dependent stability problem of a discrete-time prediction scheme to stabilize possible unstable continuous-time systems. The delay-dependent stability condition is expressed in terms of LMIs. The separation principle between the proposed predictor and a state observer is also proved. The closed-loop system is shown to be robust with respect to uncertainties in the knowledge on the plant parameters, the delay and the sampling period. The proposed scheme has been tested in a real-time application to control the roll angle in a prototype of a quad-rotor mini-helicopter.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2006-12-01 |