Asymptotic tracking and disturbance rejection of time-varying signals with a discontinuous PID controller
Por:
Moreno, Jaime A.
Publicada:
1 mar 2020
Resumen:
A novel non linear PID controller is introduced in this paper, which has
a discontinuous integral term. It is able to robustly asymptotically
track any time-varying reference while rejecting perturbations with
bounded derivatives for uncertain SISO nonlinear plants of well-defined
relative degree two and with bounded zero dynamics. This is achieved
because the discontinuous integral term takes the role of a universal
internal model for this class of references and perturbations. The
proposed controller is compared with a well established solution for
this problem in the literature to illustrate its advantages. The main
benefit is possibly the simplicity of the controller structure and its
universality, since it applies to a large class of plants, references
and perturbations without modifications. (C) 2020 Elsevier Ltd. All
rights reserved.
Filiaciones:
Moreno, Jaime A.:
Instituto de Ingeniería, Universidad Nacional Autónoma de México (UNAM), Coyoacán, Ciudad de México, 04510, Mexico
Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico
|