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Generalized sampled‐data hold functions for robust multivariable tracking and disturbance rejection
Author(s) -
Werner Herbert
Publication year - 2001
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.684
Subject(s) - multivariable calculus , control theory (sociology) , minification , quadratic equation , controller (irrigation) , function (biology) , tracking (education) , tracking error , computer science , discrete time and continuous time , mathematics , control engineering , control (management) , mathematical optimization , engineering , statistics , psychology , agronomy , pedagogy , geometry , biology , artificial intelligence , evolutionary biology
Abstract A new design procedure for a multivariable sampled‐data output feedback controller with generalized hold function is proposed. The controller can be designed for different operating points simultaneously. The design of the hold function is carried out in two steps: first the closed‐loop discrete‐time behaviour is determined by choosing a suitable output injection gain; integral action is incorporated to guarantee zero steady‐state error. In a second step this discrete‐time behaviour is approximately realized by output feedback with generalized hold. Minimization of a quadratic performance index simultaneously for all operating points yields hold functions with good intersample behaviour. A practical design example and experimental results illustrate the proposed method. Copyright © 2001 John Wiley & Sons, Ltd.