Embedded Robust Control of Multivariable Plants

摘要

The paper is devoted to the problems arising in the design and implementation of robust control laws for embedded multivariable control systems. Identifcation, derivation of uncertainty models of multivariable plants as well as problems associated with the determination of robust controllers on the basis of such models are discussed in some details. A methodology for building uncertainty models based on the identifcation results is presented. The problems arising on the diferent design stages are illustrated by a case study presenting embedded robust control of two-input two-output analog model. The plant is identifed by using black box and gray box identifcation methods which produce the necessary information to build the corresponding uncertainty models. Two discrete-time robust controllers are designed and embedded in the real system. Simulation results for the closed-loop system and experimental results obtained by using the robust controllers are given.