Embedded Model Control Urges Disturbance Modelling and Rejection
Robust control design is devoted to guarantee closed-loop stability of a model-based control law in presence of parametric uncertainties.The control law is usually a static feedback law which is derived from a model.Under this view stability can only be guarantee by introducing some ignorance coefficients and restricting the feedback control effort with respect to the model-based design.Embedded Model Control shows that under certain conditions,the model-based control law must and can be kept intact under uncertainty,if the controllable dynamics is complemented by a suitable disturbance dynamics capable of real-time encoding the different uncertainties affecting the ‘embedded model’,i.e.the model which is both the design source and the core of the control unit.To be real-time updated the disturbance state is driven by an unpredictable input vector, called noise,which can be only estimated from the model error.The uncertainty-based design concerns the noise estimator,as the model error conveys into the embedded model uncertainty components which are command-dependent and thus prone to destabilize the plant.Separation of the components in the low and high frequency domain by the noise estimator itself allows to recover and guarantee stability.A simple example will help to understand the key assets of the methodology.
Enrico Canuto Wilber Acuna-Bravo Andrés Molano-Jimenez José Ospina Carlos Perez-Montenegro
Politecnico di Torino,Dipartimento di Automatica e Informatica,Corso Duca degli Abruzzi 24,10129 Torino,Italy
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-7
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）