A design of a robust discrete-time controller

Kyohei Sakai; Hiroki Shibasaki; Ryo Tanaka; Takahiro Murakami; Yoshihisa Ishida

doi:10.1016/j.isatra.2014.10.007

A design of a robust discrete-time controller

ISA Trans. 2015 May:56:155-64. doi: 10.1016/j.isatra.2014.10.007. Epub 2014 Nov 26.

Authors

Kyohei Sakai¹, Hiroki Shibasaki², Ryo Tanaka², Takahiro Murakami², Yoshihisa Ishida²

Affiliations

¹ School of Science and Technology, Meiji University, 1-1-1 Higashimita, Tamaku, Kawasaki, Kanagawa 214-8571, Japan. Electronic address: ce41039@meiji.ac.jp.
² School of Science and Technology, Meiji University, 1-1-1 Higashimita, Tamaku, Kawasaki, Kanagawa 214-8571, Japan.

PMID: 25433942
DOI: 10.1016/j.isatra.2014.10.007

Abstract

In this paper, we proposed a robust discrete-time controller. This control system, which is derived from the idea of the normalized plant, does not include plant parameters. Thus, we obtain a control system independent of plant parameters and that has the same structure as a conventional optimal servo control system. Simulation and experimental results show that the proposed method is fairly robust to plant parameter variations and external disturbances.

Keywords: Digital control; Optimal control; Robust control system; State feedback.