Model based control laws as internal model control or disturbance observers are often used to improve robustness versus parametric uncertainties affecting the plant. When the actual plant is non minimum phase or with time lag and with input saturation, e.g. a production line with delayed measurements and actuators with input constraints (as for instance in paper or glass productions), the nominal performance of the model-based controllers is not attained. To improve the performance the model-based controller can be designed as in the variable structure standard regulator control: the proportional action is emphasised when the error is large and, on the contrary, neglected with respect to the integral and/or derivative actions when the error is small enough. As a test case a servomechanism with time-lag on measurements is considered, generalising in such a way the results previously obtained
VS model based controllers for nonlinear systems with time lag
BALESTRINO, ALDO;LANDI, ALBERTO;
1994-01-01
Abstract
Model based control laws as internal model control or disturbance observers are often used to improve robustness versus parametric uncertainties affecting the plant. When the actual plant is non minimum phase or with time lag and with input saturation, e.g. a production line with delayed measurements and actuators with input constraints (as for instance in paper or glass productions), the nominal performance of the model-based controllers is not attained. To improve the performance the model-based controller can be designed as in the variable structure standard regulator control: the proportional action is emphasised when the error is large and, on the contrary, neglected with respect to the integral and/or derivative actions when the error is small enough. As a test case a servomechanism with time-lag on measurements is considered, generalising in such a way the results previously obtainedI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.