NDLI: P·SPR·D control design via LMI for linear MIMO systems and its extension to adaptive control

Content Provider	IEEE Xplore Digital Library
Author	Shimizu, K.
Copyright Year	2013
Description	Author affiliation: Fac. of Sci. & Technol., Keio Univ., Yokohama, Japan (Shimizu, K.)
Abstract	This paper concerns with P·SPR·D control for set-point servo problem of linear MIMO systems and its extension to adaptive control. The P·SPR·D control is a structured controller introducing a SPR (strict positive real) element instead of I element for PID control. The purpose is to design a P·SPR·D controller for aysmptotical stabilization and to adjust P, SPR, D gain matrices for the improvement of control performances. We make stability analysis of the P·SPR·D control via LMI, based on Lyapunov's direct method. We extend the P·SPR·D control to adaptive P·SPR·D control in the case where plant parameters change. Namely, we make an effort to stabilize the closed-loop system and to improve convergence speed to the desired equilibrium by adding an adaptive control mode with a time-varying gain matrix to the usual P·SPR·D controller. Consequently the closed-loop system keeps asymptotical stability against unknown plant-parameter changes. For the adaptive P·SPR·D control we propose, it is not necessary to assume the minimum phase property of the plant. The P·SPR·D control can be modified to P·SPR·D+I control for improving the steady state performance (an off-set).
Starting Page	839
Ending Page	845
File Size	176782
Page Count	7
File Format	PDF
ISBN	9783033039629
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-17
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	EUCA
Subject Keyword	Linear MIMO systems Stabilization Lyapunov's direct method LMI MIMO Stability analysis PD control Adaptive control Servomotors Output feedback P·SPR·D control Lyapunov methods
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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