Novel robust gain scheduled PID controller design usingD_Rregions

Abstract

This paper develops a new design procedure for robust output feedback gain scheduled and switched PID controller design for a linear parameter varying discrete‐time system with polytopic uncertainties. The proposed approach is based on DR regions for robust pole placement and allows to consider also other performance indices. The design procedure aims to design a robust PID gain scheduled and switched controller for polytopic gain scheduled and switched plant model such that the closed‐loop eigenvalues for fixed gain scheduled parameters are in the prescribed DR region and the corresponding quadratic performance has the minimal value. The obtained design procedure can be also used to design a robust discrete‐time switched controller with arbitrarily switching law.

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

“…In some research, PID controller was utilized together with regional pole placement. A gain scheduled PID controller using robust pole placement was developed in [17] to ensure the stability of uncertain discrete-time linear parameter varying systems. Another study introduced a robust PI-D controller using LMI regions and H 2 quadratic cost function to guarantee robustness of uncertain linear systems [18].…”

An Extension Algorithm of Regional Eigenvalue Assignment Controller Design for Nonlinear Systems

“…A PID controller is also used with regional pole assignment in the literature. A new robust discrete-time gain-scheduled PID controller method was proposed in [26]. The method depends on regional pole placement using quadratic cost function, and a parameter-dependent Lyapunov function was used to guarantee closed-loop system stability.…”