This work deals with the problem of the robust stabilization of a class of multi-input 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.
Tornambe, A., Valigi, P. (1992). Decentralized controller for the robust stabilization of a class of MIMO dynamical systems. In Proceedings of the American Control Conference (pp.3284-3288). Green Valley, AZ, United States : Publ by American Automatic Control Council.
Decentralized controller for the robust stabilization of a class of MIMO dynamical systems
Tornambe, Antonio;Valigi, Paolo
1992-01-01
Abstract
This work deals with the problem of the robust stabilization of a class of multi-input 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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
