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Robust adaptive passivity‐based PI λ D control
Author(s) -
Gallegos Javier A.,
AguilaCamacho Norelys,
DuarteMermoud Manuel A.
Publication year - 2020
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3167
Subject(s) - robustness (evolution) , passivity , control theory (sociology) , parametric statistics , quadratic equation , nonlinear system , robust control , pid controller , computer science , mathematics , mathematical optimization , control engineering , engineering , control (management) , artificial intelligence , geometry , electrical engineering , temperature control , biochemistry , chemistry , statistics , physics , quantum mechanics , gene
Summary In this article, we develop proportional, fractional‐integral, and derivative (PI λ D ) controllers for the regulation and tracking problems of nonlinear systems. The analytic results are obtained by extending the passivity‐based approach to include fractional operators. Robustness under parametric uncertainty is dealt with by a combination with an adaptive scheme. It is also shown their robustness under additive noise and their robustness under uncertainty in the derivation order. The advantages in the controlled system performance and in the control energy consumption in comparison to classic PI and proportional integral derivative controllers are illustrated for the quadratic boost converter and a benchmark system in the literature.