The robust control of a servomechanism problem for linear time-invariant multivariable systems

Davison, E.J.

doi:10.1109/tac.1976.1101137

Cited by 1,149 publications

(466 citation statements)

References 16 publications

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“…The following assumption is a standard sufficient condition [3] for the solvability of the regulator problem (which becomes necessary if mild assumptions on parametric uncertainties affecting the plant matrices are considered). For a square matrix A, Λ(A) denotes the set of the eigenvalues of A.…”

Section: Carnevale S Galeani and M Sassano And A Astolfimentioning

confidence: 99%

“…This is achieved by considering those signals that are generated by a finite dimensional (known) exosystem, the initial condition of such exosystem being the only unknown data. In the case of linear time-invariant systems, solutions to this classical problem have been proposed both in the geometric setting [1,2] and in the algebraic setting [3,4,5], just to name a few.…”

Section: Introductionmentioning

confidence: 99%

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Robust hybrid estimation and rejection of multi‐frequency signals

Carnevale

Galeani

Sassano

et al. 2016

Adaptive Control & Signal

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SUMMARYWe consider the problem of output regulation for LTI systems in the presence of unknown exosystems. The only a priori knowledge about the exosystem consists in the fact that it generates multi-frequency signals, while the number and the value of the frequencies are not known. The control scheme relies on two main components: an estimation algorithm, to reconstruct the signal generated by the exosystem, and a controller, to enforce the output regulation property to the closed-loop system. To tackle the first task, we propose a hybrid observer for the estimation of the (possibly piece-wise continuous) number and values of the frequencies contained in the exogenous signal. The hybrid observer is particularly appealing for numerical implementations and it is combined with a self-tuning algorithm of the free parameters (gains), thus improving its performance even in case of noisy measurements. Semi-global exponential convergence of the estimation error is provided. As far as the second task is concerned, a robust hybrid regulator is designed for practical rejection of the multi-frequency disturbance signal acting on the plant. The result is achieved by exploiting the frequencies estimated by the hybrid observer. The effectiveness of the proposed control scheme is shown by means of numerical simulations.

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Section: Carnevale S Galeani and M Sassano And A Astolfimentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust hybrid estimation and rejection of multi‐frequency signals

Carnevale

Galeani

Sassano

et al. 2016

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

“…The exogenous disturbance signals are often modeled as unknown deterministic signals with known signal generating dynamics. For linear systems with linear disturbance dynamics, this problem has been studied in [3]. The concept of Internal Model Principle (IMP) has been initially proposed in [5] showing that it is necessary to place the disturbance dynamics in the feedback control loop in order to compensate them through asymptotic tracking.…”

Section: Introductionmentioning

confidence: 99%

Estimation-based disturbance rejection in control for limit cycle generation on inertia wheel inverted pendulum testbed

Andary

Chemori

Krut

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper deals with constant disturbances rejection in limit cycle tracking for an underactuated mechanical system. The feedback controler presented in [1] is enhanced to handle constant disturbances by using online iterative estimation of an equivalent disturbance which is easily compensated by adding the estimated value to the output of the system. The effectiveness of the proposed method is demonstrated through real-time experiments on an inertia wheel inverted pendulum. Constant disturbances are introduced either as a weight asymmetrically fixed to the pendulum body, or by the use of a bad calibrated sensor.

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“…For example, internal model principle says that the controller must include a copy of the reference signal (or disturbance) generator in order to have a robust tracking (or disturbance rejection), see e.g. [2,4,7]. Typically, the reference generator Gr(s) is an unstable system: an integrator (resp.…”

Section: Introductionmentioning

confidence: 99%

Integral Action Controllers for Systems with Time Delays

Özbay

Gündeş

2009

Topics in Time Delay Systems

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Summary. Consider a stabilizing controller C1 for a given plant P . If C1 and P do not have any zeros at the origin, then one can use a cascade connected PI (proportional plus integral) controller Cpi with C1 and keep the feedback system stable. In this work we examine the allowable range of the integral action gain in Cpi, and discuss how C1 should be chosen to maximize this range for systems with time delays.

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The robust control of a servomechanism problem for linear time-invariant multivariable systems

Cited by 1,149 publications

References 16 publications

Robust hybrid estimation and rejection of multi‐frequency signals

Robust hybrid estimation and rejection of multi‐frequency signals

Estimation-based disturbance rejection in control for limit cycle generation on inertia wheel inverted pendulum testbed

Integral Action Controllers for Systems with Time Delays

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