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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Design And Implementation Of
Robust Control Laws |
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Authors: |
Petko H. Petkov, J. Kralev,
Ts. Slavov |
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Published in:
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(2015).ECMS 2015 Proceedings edited
by: Valeri M. Mladenov, Grisha Spasov, Petia Georgieva, Galidiya Petrova, European
Council for Modeling and Simulation. doi:10.7148/2015 ISBN:
978-0-9932440-0-1 29th
European Conference on Modelling and Simulation, Albena (Varna), Bulgaria,
May 26th – 29th,
2015 |
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Citation
format: |
Petko H. Petkov,
J. Kralev, Ts. Slavov (2015).
Design And Implementation Of Robust Control Laws,
ECMS 2015
Proceedings edited by: Valeri M. Mladenov, Petia Georgieva, Grisha Spasov, Galidiya Petrova
European Council for Modeling and Simulation. doi:10.7148/2015-0006 |
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DOI: |
http://dx.doi.org/10.7148/2015-0006 |
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Abstract: |
This paper is devoted to various issues related to the
design and practical implementation of high order robust control laws. We
consider derivation of plant uncertainty models using analytical or
identification procedures, implementation of different schemes for
μ-synthesis, choice of weighting filters and controller order reduction.
Additional important problems arising in the framework of embedded control
systems, like removing the sensor drifts, generation of control code from Simulink R ⃝
and effect of single precision arithmetic on the controller stability, are
discussed in some details. As a case study we present the robust control of
two-wheeled robot using μ-controller of order 30. The experimental results
confirm that the closed-loop system achieves both robust stability and robust
performance in respect to the uncertainties related to the identification of
robot model. |
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