DESIGN OF A FIXED-ORDER RST CONTROLLER FOR INTERVAL SYSTEMS: APPLICATION TO THE CONTROL OF PIEZOELECTRIC ACTUATORS

摘要

This paper presents a technique for designing a robust polynomial RST controller for parametric uncertain systems. The uncertain parameters are assumed to be bounded by intervals. The computation of the controller is addressed by introducing the interval arithmetic. The controller synthesis is formulated as a set inversion problem that can be solved using the SIVIA algorithm. The proposed method is afterwards applied to design a robust controller for a piezoelectric microactuator. The experimental results show the efficiency of the proposed method. Finally, a fine stability analysis is performed to analytically prove the robustness of the designed controller.