Title :
RobSin: a new tool for robust design of PID and three-term controllers based on singular frequencies
Author :
Bajcinca, Naim ; Hulin, Thomas
Author_Institution :
Inst. of Robotics & Mechatronics, DLR, Oberpfaffenhofen, Germany
Abstract :
This paper introduces a new Matlab Toolbox called RobSin, which for a given plant (multi-) model provides a fast computation of the stabilizing region in the coordinates of PID parameters. The algorithms use the concept of singular frequencies for computation of convex polygonal slices on planes kp = const. In addition to time-continuous systems, the method described in this paper is especially convenient for the design of time-discrete PID and three-term controllers and time-delay systems.
Keywords :
continuous time systems; control system synthesis; delay systems; discrete time systems; robust control; three-term control; PID control; continuous time system; convex polygonal slices; discrete-time system; robust control; three-term controllers; time-delay systems; Algorithm design and analysis; Eigenvalues and eigenfunctions; Frequency; Mechatronics; Robots; Robust control; Stability; Three-term control; Uncertain systems; Uncertainty;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387595
