Robust discrete Generalized Proportional Integral Control: Application in mechanical systems

Alberto Luviano-Juarez, John Cortes-Romero, Hebertt Sira-Ramirez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

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 languageEnglish
Title of host publication2009 European Control Conference, ECC 2009
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3893-3898
Number of pages6
ISBN (Electronic)9783952417393
DOIs
StatePublished - 26 Mar 2014
Externally publishedYes
Event2009 10th European Control Conference, ECC 2009 - Budapest, Hungary
Duration: 23 Aug 200926 Aug 2009

Publication series

Name2009 European Control Conference, ECC 2009

Conference

Conference2009 10th European Control Conference, ECC 2009
Country/TerritoryHungary
CityBudapest
Period23/08/0926/08/09

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