Robust PID controller design via LMI approach

  • Ge M
  • Chiu M
  • Wang Q
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In this paper, a method which allows explicit incorporation of the description of system uncertainties in the problem formulation for designing robust proportional-integal-derivative (PID) controller is presented. The multiple-model paradigm is employed to represent the uncertainties and provides the basis for the PID controller design. Using standard techniques, the robust PID controller design is reduced to a convex constraint problem which can be efficiently solved with linear matrix inequalities (LMIs) approach. Various practical specifications are considered simultaneously within this framework. Extension to system with time-delays, which follows naturally from the preceding development, is also discussed. Two examples are used to demonstrate the effectiveness of the proposed method and a comparison with the existing PID tuning methods is made. ?? 2001 Elsevier Science Ltd. All rights reserved.

Author-supplied keywords

  • Linear matrix inequalities (LMI)
  • Multiple-model
  • PID
  • Time-delay

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  • M. Ge

  • M. S. Chiu

  • Q. G. Wang

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