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Robust tracking design for uncertain MIMO systems using proportional–integral controller of order v

Abstract : This paper provides a systematic method to design robust tracking controllers of reference signals with bounded derivatives of order ν for uncertain multi-input multi-output (MIMO) systems with bounded parametric uncertainties, in particular, of rational multi-affine type, and/or in presence of disturbances with bounded derivatives of order ν. The proposed controllers have state-feedback structures combined with proportional–integral regulators of order ν (PIν). Theoretical tools and systematic methodologies are provided to effectively design robust controllers for the considered systems, also in case of additional bounded nonlinearities and/or not directly measurable states. Applicability and efficiency of the proposed methods are validated through three examples: the first one is theoretical and useful to validate the proposed methodology, the second case study presents a metal-cutting problem for an industrial robot, and the third example deals with a composite robot, such as a milling machine.
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Submitted on : Monday, January 24, 2022 - 12:57:57 PM
Last modification on : Wednesday, January 26, 2022 - 3:33:47 AM

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Laura Celentano, Michael Basin, Mohammed Chadli. Robust tracking design for uncertain MIMO systems using proportional–integral controller of order v. Asian Journal of Control, Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) 2021, 23 (5), pp.2042--2063. ⟨10.1002/asjc.2405⟩. ⟨hal-03540965⟩

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