TY - GEN
T1 - Robust discrete Generalized Proportional Integral Control
T2 - 2009 10th European Control Conference, ECC 2009
AU - Luviano-Juarez, Alberto
AU - Cortes-Romero, John
AU - Sira-Ramirez, Hebertt
N1 - Publisher Copyright:
© 2009 EUCA.
PY - 2014/3/26
Y1 - 2014/3/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84955183865&partnerID=8YFLogxK
U2 - 10.23919/ecc.2009.7075007
DO - 10.23919/ecc.2009.7075007
M3 - Contribución a la conferencia
AN - SCOPUS:84955183865
T3 - 2009 European Control Conference, ECC 2009
SP - 3893
EP - 3898
BT - 2009 European Control Conference, ECC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 August 2009 through 26 August 2009
ER -