Search results for " Robust control"
showing 10 items of 11 documents
Robust control of uncertain multi-inventory systems via linear matrix inequality
2008
We consider a continuous time linear multi inventory system with unknown demands bounded within ellipsoids and controls bounded within ellipsoids or polytopes. We address the problem of "-stabilizing the inventory since this implies some reduction of the inventory costs. The main results are certain conditions under which "-stabilizability is possible through a saturated linear state feedback control. All the results are based on a Linear Matrix Inequalities (LMIs) approach and on some recent techniques for the modeling and analysis of polytopic systems with saturations.
Average flow constraints and stabilizability in uncertain production-distribution systems
2009
We consider a multi-inventory system with controlled flows and uncertain demands (disturbances) bounded within assigned compact sets. The system is modelled as a first-order one integrating the discrepancy between controlled flows and demands at different sites/nodes. Thus, the buffer levels at the nodes represent the system state. Given a long-term average demand, we are interested in a control strategy that satisfies just one of two requirements: (i) meeting any possible demand at each time (worst case stability) or (ii) achieving a predefined flow in the average (average flow constraints). Necessary and sufficient conditions for the achievement of both goals have been proposed by the aut…
INFLUENCE OF UNCERTAINTIES ON ROTATING FLEXIBLE SHAFT SUSPENDED BY 4-AXIS RADIAL ACTIVE MAGNETIC BEARINGS µ-SYNTHESIS AND LOOP-SHAPING-DESIGN
2012
This paper shows a comparison about dynamic behavior of a rotating shaft when it is suspended by 4-axis radial active magnetic bearing system. The active magnetic suspension is obtained by two different controllers which realize the robust stability and robust performance. The control systems used are µ-synthesis and loop shaping design procedure. Each of these controllers is characterized by fourinput and four output signals and the introduction of uncertainties on displacement gain and current gain is justified by the simple fact that during the time the component which constitutes these gains can be subjected to torn and worn which can lead the entire system to instability phenomena. The…
ROBUST CONTROL STRATEGIES FOR MULTI—INVENTORY SYSTEMS WITH AVERAGE FLOW CONSTRAINTS
2006
Abstract In this paper we consider multi—inventory systems in presence of uncertain demand. We assume that i) demand is unknown but bounded in an assigned compact set and ii) the control inputs (controlled flows) are subject to assigned constraints. Given a long—term average demand, we select a nominal flow that feeds such a demand. In this context, we are interested in a control strategy that meets at each time all possible current demands and achieves the nominal flow in the average. We provide necessary and sufficient conditions for such a strategy to exist and we characterize the set of achievable flows. Such conditions are based on linear programming and thus they are constructive. In …
Wind gust estimation for precise quasi-hovering control of quadrotor aircraft
2021
Abstract This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasi-static vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind its…
Robust tool point control for offshore knuckle boom crane
2011
Author's version of a chapter in the book: Proceedings of the 18th IFAC World Congress 2011. Also available from the publisher at: http://dx.doi.org/10.3182/20110828-6-IT-1002.03004 This paper considers the design of an H∞ controller for tool point control of a hydraulically actuated knuckle boom crane. The paper describes the modelling of the crane's mechanical and hydraulic systems and a disturbance model. These are linearised and combined in a state-space model used for the controller design. The controller synthesis problem is to design (if possible) an admissible controller that solves the problem of robust regulation against step inputs with an H∞ constraint based on the internal mode…
Hammerstein Model-Based Robust Control of DC/DC Converters
2007
This paper deals with model-based robust control of DC/DC power electronic converters. The converter is modelled by means of its static characteristic and a few continuous-time linear and time-invariant (LTI) models corresponding to contiguous ranges of duty-cycle. The model appears as a Hammerstein model in which the values of the parameters of the LTI part depend on the actual duty-cycle operating range. This suggests to describe the converter as an uncertain system to be controlled using robust control techniques. Frequency domain approach is used for describing the nominal model and the uncertainty. In view of applying robust control, identification of the LTI models is performed by mea…
Identification and robust control of DC/DC converter Hammerstein model
2008
Abstract—This paper deals with model-based robust control of dc/dc power electronic converters. The converter is described by means of a Hammerstein model consisting of the nonlinear static characteristics of the converter and a linear time-invariant (LTI) uncertainmodel whose parameters depend on the actual duty-cycle operating range. This suggests that the controller be designed using robust control techniques. In view of applying robust control, identification of the earlier LTI models is performed by means of simulation experiments, carried out on a converter switching model implemented onMATLAB/SIMULINK environment. Internal model control (IMC) structure is employed for the controller …
Robust control in uncertain multi-inventory systems and consensus problems
2008
Abstract We consider a continuous time linear multi–inventory system with unknown demands bounded within ellipsoids and controls bounded within polytopes. We address the problem of ∈-stabilizing the inventory since this implies some reduction of the inventory costs. The main results are certain conditions under which ∈-stabilizability is possible through a saturated linear state feedback control. The idea of this approach is similar to the consensus problem solution for a network of continuous time dynamic agents, where each agent evolves according to a first order dynamics has bounded control and it is subject to unknown but bounded disturbances. In this context, we derive conditions under…
Identification and Robust Control of a Quadratic DC/DC Boost Converter by Hammerstein Model
2015
This paper deals with the theoretical framework definition and the experimental application of the Hammerstein (HM) identification and related robust control technique to a quadratic dc/dc single-switch boost (Q-boost) converter. A set of fourth-order transfer functions (TFs) has been identified with the Hammerstein approach, on the basis of a pseudorandom-binary-sequence (PRBS) excitation signal. The set of identified TFs has been then used to design a suitable robust control technique, able to properly deal with the converter parameter uncertainty and load variations. The proposed approach has been tested in numerical simulation and validated experimentally on a suitably developed test se…