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- Fransson, Carl-Magnus, 1976, et al.
(författare)
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Non-conservative robust control: Optimized and constrained sensitivity functions
- 2009
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Ingår i: IEEE Transactions on Control Systems Technology. - 1063-6536 .- 1558-0865. ; 17:2, s. 298-308
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Tidskriftsartikel (refereegranskat)abstract
- An automated procedure for optimization of proportional–integral–derivative (PID)-type controller parametersfor single-input, single-output (SISO) plants with explicit modeluncertainty is presented. Robustness to the uncertainties is guaranteedby the use of Horowitz–Sidi bounds, which are used asconstraints when low-frequency performance is optimized in anonconvex but smooth optimization problem. In the optimization(and hence the parameter tuning), separate criteria are formulatedfor low-, mid-, and high-frequency (HF) closed-loop properties.The tradeoff between stability margins, control signals, HF robustness,and low-frequency performance is clarified, and the finalparameter choice is facilitated. We use a combination of globaland local optimization algorithms in the TOMLAB optimizationenvironment and obtain robust convergence without relying ongood initial estimates for the controller parameters. The methodis applied to a controller structure comparison for a plant with anuncertain mechanical resonance and a plant with uncertain timedelay and time constants. For a given control activity, stabilitymargin, and HF robustness, it is shown that a PID controller witha second-order filter and an controller based on loop-shapingachieve approximately the same low-frequency performance.
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