Direct data - driven H 2 − H ∞ loop - shaping ⋆
نویسندگان
چکیده
In this paper, a direct data-driven approach is proposed to tune fixed-order controllers for unknown stable LTI plants in a mixed-sensitivity loop-shaping problem. The method requires a single set of input-output samples and it is based on simple convex optimization techniques; moreover, it guarantees internal stability as the data-length tends to infinity. Compared to a standard model-based approach, the proposed methodology theoretically guarantees the same asymptotical performance in case of correct parameterization, whereas the direct data-driven formulation is less conservative in case of undermodeling. The effectiveness of the method is illustrated via some numerical examples.
منابع مشابه
Robust Fuzzy Gain-Scheduled Control of the 3-Phase IPMSM
This article presents a fuzzy robust Mixed - Sensitivity Gain - Scheduled H controller based on the Loop -Shaping methodology for a class of MIMO uncertain nonlinear Time - Varying systems. In order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by Takagi and Sugeno’s (T - S) fuzzy approach. Both Loop - Shaping methodology and...
متن کاملH∞ Loop Shaping for Mixed Continuous/discrete-time Time-varying and Periodic Systems
The loop shaping scheme is applied to H∞-control of time-varying and periodic systems. The solution is given in a unified mixed continuous/discrete-time compact form. This implies that pure continuous-time and discrete-time applications simply appear as two different interpretations of the given results. Among the applications are also hybrid systems with time-driven discrete events. For period...
متن کاملSingle Joint Control of a Flexible Industrial Manipulator using H Loop Shaping, Report no. LiTH-ISY-R-3053
Control of a exible joint of an industrial manipulator using H∞ loop shaping design is presented. Two controllers are proposed; 1) H∞ loop shaping using the actuator position, and 2) H∞ loop shaping using the actuator position and the acceleration of end-e ector. The two controllers are compared to a standard pid controller where only the actuator position is measured. Using the acceleration of...
متن کاملA Design Framework for Continuous - Time Systems UnderSampled - Data
In this paper we give a compact derivation of new for-mulae for the synthesis of H 1 , sampled-data controllers for continuous-time, linear, time-invariant, generalised plants. The formulae are signiicantly more simple than those previously published and accommodate a direct feedthrough term from the disturbance inputs to the controlled outputs of the generalised plant. Furthermore, motivated b...
متن کاملControl of Robotic Manipulator using Automatic Loop-Shaping (ALS)
Abstract: H Control designs are quite effective in robust design for systems under unstructured uncertainty, unknown disturbance and measurement noise. Conventional H loop-shaping is a reasonable method for designing the robust controller. H Loop-shaping guarantees closed-loop performance and robustness to generic unstructured dynamic uncertainty, where robustness to uncertainty is incorporated...
متن کامل