H PID controller design for Lur'e systems and its application to a ball and wheel apparatus

Ming Tzu Ho, Jun Ming Lu

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)53-64
Number of pages12
JournalInternational Journal of Control
Volume78
Issue number1
DOIs
Publication statusPublished - 2005 Jan

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

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