Robust discrete generalized proportional integral control: Application in mechanical systems

Abstract:

We tackle the problem of controlling a mechanical system by means of a robust discrete-time linear predictive control which is the discrete time version of the Robust Generalized Proportional Integral Control. It is assumed that the model uncertainties and external disturbances are bounded and bandlimited, so that they can be modeled by means of a polynomial approximation which needs to be rejected. The controller efficiency is proven by means of experimental results in a trajectory tracking task under disturbance inputs.

Año de publicación:

2009

Keywords:

Fuente:

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