TY - JOUR
T1 - A nonlinear robust PI controller for an uncertain system
AU - Aguilar-Ibañez, Carlos
AU - Mendoza-Mendoza, Julio A.
AU - Suarez-Castanon, Miguel S.
AU - Davila, Jorge
N1 - Funding Information:
This research was supported by the Centro de Investigación en Computación of the Instituto Politecnico Nacional (CIC-IPN), and by the Secretaría de Investigación y Posgrado of the Instituto Politecnico Nacional (SIP-IPN), under Research Grants 20131342 and 20131304. Julio A. Mendoza is a doctoral student at the Centro en Investigación en Computación and a scholarship holder of the CONACYT and he wants to thanks both institutions.
PY - 2014/5/4
Y1 - 2014/5/4
N2 - This paper presents a smooth control strategy for the regulation problem of an uncertain system, which assures uniform ultimate boundedness of the closed-loop system inside of the zero-state neighbourhood. This neighbourhood can be made arbitrarily small. To this end, a class of nonlinear proportional integral controllers or PI controllers was designed. The behaviour of this controller emulates very close a sliding mode controller. To accomplish this behaviour saturation functions were combined with traditional PI controller. The controller did not need a high-gain controller or a sliding mode controller to accomplish robustness against unmodelled persistent perturbations. The obtained closed-solution has a finite time of convergence in a small vicinity. The corresponding stability convergence analysis was done applying the traditional Lyapunov method. Numerical simulations were carried out to assess the effectiveness of the obtained controller.
AB - This paper presents a smooth control strategy for the regulation problem of an uncertain system, which assures uniform ultimate boundedness of the closed-loop system inside of the zero-state neighbourhood. This neighbourhood can be made arbitrarily small. To this end, a class of nonlinear proportional integral controllers or PI controllers was designed. The behaviour of this controller emulates very close a sliding mode controller. To accomplish this behaviour saturation functions were combined with traditional PI controller. The controller did not need a high-gain controller or a sliding mode controller to accomplish robustness against unmodelled persistent perturbations. The obtained closed-solution has a finite time of convergence in a small vicinity. The corresponding stability convergence analysis was done applying the traditional Lyapunov method. Numerical simulations were carried out to assess the effectiveness of the obtained controller.
KW - Adaptive control
KW - PI controller
KW - Robust control
KW - Sliding modes control
KW - Uncertain system
UR - http://www.scopus.com/inward/record.url?scp=84895919172&partnerID=8YFLogxK
U2 - 10.1080/00207179.2013.868606
DO - 10.1080/00207179.2013.868606
M3 - Artículo
SN - 0020-7179
VL - 87
SP - 1094
EP - 1102
JO - International Journal of Control
JF - International Journal of Control
IS - 5
ER -