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.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications