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Identification and Robust Control of an Experimental Servo Motor
(Elsevier Science Inc, 2002)
In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a DC motor drive as well as the corresponding identification and robust stability analysis are ...
Control of an autonomous underwater vehicle subject to robustness constraints
(International Federation of Automatic Control, 2018)
In this paper, we present a method to compute a control law for an Autonomous Underwater Vehicle (AUV) subject to external disturbances. The control law’s design objectives are formulated as H∞ objectives used to synthesize ...
Robust adaptive control using multiple models, switching and tuning
(Inst Engineering Technology-iet, 2011-12)
The supervisory control problem is analysed as an online robust design problem using switching to select the relevant models for designing the control law. The proposed supervisory control algorithm is based on the integration ...
Modelling and uncertainties characterization for robust control
(Elsevier, 2013-03)
In this work, multi-input multi-output (MIMO) process identification is studied, where the model identification is dedicated to the control design goal. An ad hoc identification procedure is presented which allows estimating ...
A robust economic MPC for changing economic criterion
(John Wiley & Sons Ltd, 2018-10)
This note presents a robust economic model predictive control controller suitable for changing economic criterion. The proposal ensures feasibility under any change of the economic criterion, thanks to the use of artificial ...
Robust model predictive controller with output feedback and target tracking
(Institute of Electrical and Electronics Engineers, 2010-10)
A model predictive controller (MPC) is proposed, which is robustly stable for some classes of model uncertainty and to unknown disturbances. It is considered as the case of open-loop stable systems, where only the inputs ...
Robust identification/invalidation in an LPV framework
(John Wiley & Sons Ltd, 2010-02)
A robust linear parameter varying (LPV) identification/invalidation method is presented. Starting from a given initial model, the proposed method modifies it and produces an LPV model consistent with the assumed uncertainty/noise ...
Observer-based adaptive control using multiple-models switching and tuning
(Institution of Engineering and Technology, 2014-02)
Despite the remarkable theoretical accomplishments and successful applications of adaptive control, this field is not mature enough to solve challenging problems where strict performance and robustness guarantees are ...
Deterministic robust control design for an iron core linear drive including second-order electrical dynamics
(Professional Engineering Publishing Ltd, 2018-08)
This work proposes a deterministic robust controller to improve tracking performance for a linear motor, taking into account the electrical dynamics imposed by a commercial current controller. The design is split in two ...
Robust Identification of PWL-Wiener Models: Use in Model Predictive Control
(Planta Piloto de Ingeniería Química, 2003-06)
In this paper a robust identification strategy for Wiener like models constituted by a linear dynamic block a in series with a Piecewise Linear (PWL) functions as the nonlinear static gain is presented. The proposed ...