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Erschienen in:
Introduction to Adaptive Control Kapitel lesen Erstes Kapitel lesen

2011 | OriginalPaper | Buchkapitel

8. Robust Digital Control Design

verfasst von : Prof. Ioan Doré Landau, Prof. Rogelio Lozano, Prof. Mohammed M’Saad, Prof. Alireza Karimi

Erschienen in: Adaptive Control

Verlag: Springer London

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Abstract

An adaptive control system has to be built on top of a robust digital control system. Therefore robustness issues for the underlying controller and the shaping of the sensitivity functions for various possible values of the plant parameters are very important. After a review of some basic robustness concepts, a methodology for shaping the sensitivity functions is presented. Its application is illustrated in the context of adaptive control of a flexible transmission.

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Vorheriges Kapitel Digital Control Strategies
Nächstes Kapitel Recursive Plant Model Identification in Closed Loop
Fußnoten
1
Robustness with respect to plant model uncertainties is not a god given property for some control strategies. It is the wise choice of some design parameters which can assure the robustness of a given control strategy in a specific context.
 
2
At a given frequency the point belonging to the Nyquist plot of the true plant model lies in a disc of a given radius centered on the corresponding point belonging to the Nyquist plot of the nominal model.
 
3
The criterion remains valid in the case of poles zeros cancellations. The number of encirclements should be equal to the number of unstable open-loop poles without taking into account the possible cancellations.
 
4
There are some “pathological” systems \(\frac{B(z^{-1})}{A(z^{-1})}\), with unstable poles and zeros which can be stabilized only with open-loop unstable controllers.
 
5
See Sung and Hara (1988) for a proof. In the case of unstable open-loop systems but stable in closed loop, this integral is positive.
 
6
The bilinear transformation assures a better approximation of a continuous-time model by a discrete-time model in the frequency domain than the replacement of differentiation by a difference, i.e. s=(1−z −1)T s .
 
7
The factor γ has no effect on the final result (coefficients of R and S). It is possible, however, to implement the filter without normalizing the numerator coefficients.
 
8
To be download from the web site (http://​landau-bookic.​lag.​ensieg.​inpg.​fr).
 
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Metadaten
Titel
Robust Digital Control Design
verfasst von
Prof. Ioan Doré Landau
Prof. Rogelio Lozano
Prof. Mohammed M’Saad
Prof. Alireza Karimi
Copyright-Jahr
2011
Verlag
Springer London
Buch
Adaptive Control

Print ISBN: 978-0-85729-663-4

Electronic ISBN: 978-0-85729-664-1

Copyright-Jahr: 2011

DOI
https://doi.org/10.1007/978-0-85729-664-1_8

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