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

Ming Tzu Ho, Jun Ming Lu

研究成果: Article同行評審

16 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)53-64
頁數12
期刊International Journal of Control
78
發行號1
DOIs
出版狀態Published - 2005 一月

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

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