This work deals with the problem of the robust stabilization of a class of multiinput multi-output (MIMO) dynamical systems. A simple decentralized controller is proposed, which reduces to the classical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems. © 1994 by ASME.
Tornambè, A., Valigi, P. (1994). A decentralized controller for the robust stabilization of a class of MIMO dynamical systems. JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT AND CONTROL, 116(2), 293-304 [10.1115/1.2899223].
A decentralized controller for the robust stabilization of a class of MIMO dynamical systems
Tornambè, A.;Valigi, P.
1994-01-01
Abstract
This work deals with the problem of the robust stabilization of a class of multiinput multi-output (MIMO) dynamical systems. A simple decentralized controller is proposed, which reduces to the classical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems. © 1994 by ASME.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
