A case study on the universal compensation-improvement mechanism: A robust PID filter-shaped optimal PI tracker for systems with/without disturbances
| Autor: | Jason Sheng Hong Tsai, Shu-Mei Guo, Jose I. Canelon, Leang-San Shieh, Hsuan Han Wang |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Dynamical systems theory Computer Networks and Communications Computer science BitTorrent tracker Applied Mathematics 05 social sciences PID controller Estimator 02 engineering and technology Filter (signal processing) Servomechanism law.invention Tracking error 020901 industrial engineering & automation Control and Systems Engineering Control theory law 0502 economics and business Signal Processing 050203 business & management |
| Zdroj: | Journal of the Franklin Institute. 355:3583-3618 |
| ISSN: | 0016-0032 |
| DOI: | 10.1016/j.jfranklin.2018.03.006 |
| Popis: | Many dynamical systems are continuous-time non-square with unknown mismatched input and output disturbances. For such systems, a universal on-line robust optimal tracking control is often desirable. In this paper, the conventional proportional-integral-differential (PID) controller is utilized as a fictitious PID filter to shape the tracking error in the frequency-domain using a quadratic performance index as a weighting function, such that the robust PID-shaped PI tracker integrated with the equivalent input disturbance (EID) estimator is established to carry out the on-line robust optimal tracking control of the general disturbed system. The benefits and discrepancies of the proposed compensation improvement mechanism over the conventional optimal trackers for continuous-time non-square systems with/without unknown mismatched input and output disturbances are listed as follows: (i) It develops a new net EID estimator without any previously established constraints on the dimensions of the system and on the disturbances; (ii) It provides an efficient estimated-state-feedback-based EID estimator in contrast to the conventional output-feedback-based EID estimators; (iii) It is able to carry out on-line EID estimation of the tracking errors for systems with endogenous/exogenous output disturbances; (iv) It is a universal tracker which can be simply implemented as a plug-in EID estimator for most servo systems, to improve the performance of any existing observers/trackers which are not allowed to be removed from the system. The advantages of the proposed method over two existing outstanding approaches reported in the literature are pointed out using illustrative examples. |
| Databáze: | OpenAIRE |
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