© 2009 EUCA. We tackle the problem of controlling a mechanical system by means of a robust discrete-time linear predictive control which is the discrete time version of the Robust Generalized Proportional Integral Control. It is assumed that the model uncertainties and external disturbances are bounded and bandlimited, so that they can be modeled by means of a polynomial approximation which needs to be rejected. The controller efficiency is proven by means of experimental results in a trajectory tracking task under disturbance inputs.
|Original language||American English|
|Number of pages||3503|
|State||Published - 26 Mar 2014|
|Event||2009 European Control Conference, ECC 2009 - |
Duration: 26 Mar 2014 → …
|Conference||2009 European Control Conference, ECC 2009|
|Period||26/03/14 → …|
Luviano-Juarez, A., Cortes-Romero, J., & Sira-Ramirez, H. (2014). Robust discrete Generalized Proportional Integral Control: Application in mechanical systems. 3893-3898. Paper presented at 2009 European Control Conference, ECC 2009, .