REAL-TIME IMPLEMENTATION OF H∞ AND μ-CONTROLLERS

Implementation of H1 and ¹{controllers for real-time robust control of multivariable 4th order two input/two output laboratory plant is presented. The control system consists of a Spectrum Digital eZdspTMF28335 development kit with built in Texas Instru- ments TMS320F28335 Digital Signal Processor (DSP), digital to analogue signal converter, voltage divider, and a test analogue plant. An 8th order discrete-time H∞-controller, and a 16th order μ-controller are implemented, with sampling frequency of 100 Hz, by using the DSP. The H∞-controller design ensures effcient attenuation of the output disturbances, while the μ-controller also ensures robust performance of the closed-loop system in presence of parametric uncertainty in two plant parameters. Frequency domain analysis of the corresponding discrete- time closed-loop systems is performed. The implementation of high-order robust control laws is facilitated by the usage of technology for automatic code generation. An appropriate software in the MATLAB R®/Simulink R®environment is developed, which is embedded in DSP by using the Simulink Coder R®. Experimental and simulation results are presented, which confirm that both control systems achieve the prescribed performance.