STRATEGY FOR ANALYSIS AND DESIGN OF A DIGITAL ROBUST CONTROLLER FOR NONLINEAR CONTROL SYSTEMS

摘要

This paper proposes a strategy for the analysis and designrnof a nonlinear robust control system with variablernparameters. A digital robust controller is implemented inrnthe system. The approach for the controller design isrnfounded on introduction of system compensation with tworndegrees of freedom. As a result, the targeted robustness ofrnthe system is achieved. The system’s stability and robustrnassessment is based on the interaction between itsrnnonlinear and linear sections. D-partitioning, timeresponsernand describing function analyses arernimplemented before and after the robust compensation.rnThese analyses demonstrate significant improvement ofrnthe system performance in terms of insensitivity tornvariations of the system parameters. The digital robustrncontroller is build of microcontrollers, based on therndifference equations of its sections.