Synthesis of asolutely sabilizing PID controllers and its application to a ball and wheel system

Ming-Tzu Ho, Jun Ming Lu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we consider the problem of synthesizing proportional- integral-derivative (PID) controllers that absolutely stabilize a given Lur'e system. Based on the circle criterion and the stability characterization of the strictly positive real property, sufficient conditions for the existence of stabilizing PID controllers are given in terms of simultaneous stabilization of complex polynomials. The results from the earlier work are then used to solve the resulting complex polynomial stabilization problem. For a fixed proportional gain, and by sweeping over a variable, the set of the stabilizing integral and derivative gain values can be determined constructively using linear-programming techniques. The proposed synthesis method is used to design a stabilizing PID controller for the ball and wheel system and the experimental results are also presented.

Original languageEnglish
Title of host publicationProceedings of the 2004 IEEE International Conference on Control Applications
Pages825-830
Number of pages6
Volume1
Publication statusPublished - 2004
Event2004 IEEE International Conference on Control Applications - Taipei, Taiwan
Duration: 2004 Sep 22004 Sep 4

Other

Other2004 IEEE International Conference on Control Applications
Country/TerritoryTaiwan
CityTaipei
Period04-09-0204-09-04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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