Autors: Petkov, P. H., Kralev, J. K., Slavov, T. N.
Title: Design and implementation of robust control laws
Keywords: Robust control; Real time control; Embedded systems; Digital

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 us- ing 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.

References

    Issue

    ECMS2015, pp. 6-18, 2015, Bulgaria, ISBN 978-0-9932440-0-1

    Full text of the publication

    Цитирания (Citation/s):
    1. Amin, A.A., Mahmood-ul-Hasan, K. Robust active fault-tolerant control for internal combustion gas engine for air–fuel ratio control with statistical regression-based observer model (2019) Measurement and Control (United Kingdom), 52 (9-10), pp. 1179-1194. - 2019 - в издания, индексирани в Scopus или Web of Science
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    4. AMIN, Arslan Ahmed; MAHMOOD-UL-HASAN, Khalid. Robust passive fault tolerant control for air fuel ratio control of internal combustion gasoline engine for sensor and actuator faults. IETE Journal of Research, 2021, 1-16. - 2021 - в издания, индексирани в Scopus или Web of Science

    Вид: пленарен доклад в международен форум, индексирана в Scopus