NDLI: Embedded Model Control: Design separation under uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Canuto, E. Perez Montenegro, C. Colangelo, L. Lotufo, M.
Copyright Year	2014
Description	Author affiliation: Dipt. di Autom. e Inf., Politec. di Torino, Turino, Italy (Canuto, E.; Perez Montenegro, C.; Colangelo, L.; Lotufo, M.)
Abstract	The key signal of the Embedded Model Control (EMC) is the model error, measured minus model output, which is used by Internal Model Control and in a more efficient way by Active Disturbance Rejection Control (ADRC). EMC extends ADRC along four lines: a generic disturbance dynamics, design of the noise layout (where uncertainty enters the model), dynamic uncertainty estimation, a design degree of freedom similar to Youla parameterization. The latter freedom is shown to favor separation between control and estimation under uncertainty, a principle hidden in ADRC. As a result, control law can be practically designed model-based, only limited by command saturation. The main theorems are developed in some detail starting from two model classes (design and embedded model), that are essential to define uncertainty. The paper extends part of previous results from SISO to MIMO systems, but some theorems and the free feedback dynamics are original. Theory is accompanied by a study case.
Starting Page	3637
Ending Page	3643
File Size	280623
Page Count	7
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6895544
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	noise estimator Uncertainty Noise Estimation separation theorem Electromagnetic compatibility Stability analysis Mathematical model uncertainty embedded model control Equations
Content Type	Text
Resource Type	Article

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