Abstract
In web transport systems, the main concern is to control independently speed and tension in spite of perturbations such as radius variations and changes of setting point. Nevertheless, in these control techniques, tracking properties and perturbation rejection are interdependent and cannot be specified separately. In this paper we present multivariable decentralized H∞ controllers with one or two degrees of freedom (DOF), with and without explicit integrator, applied to winding systems. Different controller structures are considered: a centralized controller and semi-decentralized controllers with or without overlapping. The 2DOF approach improves significantly the disturbance rejection while reducing the coupling between tension and velocity. The use of decentralized control leads to performance deterioration as compared to centralized control. The off-diagonal elements of the plant are represented as uncertainties. This enables us to analyse the stability of a decentralized control structure. Finally, a design method for state feedback control, applied to web handling systems and using a bilinear matrix inequality (BMI) approach, is proposed and discussed. Simulation results are given based on a nonlinear model identified on an experimental bench.
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