Abstract
The paper deals with the design of H-∞ robust controller, particularly with mixed sensitivity problem for elevation control. It briefly introduces basic mathematical background concerning robust control approach, which is then applied for typical example of MIMO system, that is a helicopter model. The obtained results are verified on real educational physical model CE 150 by Humusoft, ltd.
Highlights
Robust Design MethodsThe methods of the state space in the time domain allowed to avoid the problems with transfer function matrices and provided means of the analysis and design of MIMO systems with more inputs and outputs
Robustness plays a significant role in the design of control systems as real systems are prone to external disturbances and measurement noise
A typical example is the design of a controller that will stabilize the system even if it is originally unstable and accept a particular level of performance at the presence of disturbance signals, noises, hard-to-model process dynamic characteristics or process parameter variables
Summary
The methods of the state space in the time domain allowed to avoid the problems with transfer function matrices and provided means of the analysis and design of MIMO systems with more inputs and outputs. The control circuit contains a robust controller with transfer function K (s) and a perturbed ( extended or generalized) system with transfer function P (s) that has two inputs and two outputs according to [15]:. W (t) input reference signal vector; external input signals, Fig. 4: Standard block diagram of the mixed sensitivity problem: controller and perturbed system containing nominal system, control error and manipulated value weighting filters. On the basis of the aforementioned theoretical findings from the field of the H∞ robust control, we can design a robust controller according to the selected conception when we deal with the question of the autonomy of the control and the problem of mixed sensitivity and consider the input signals.
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