Abstract
Clamping force control in Electro Mechanical Brakes (EMBs) is a challenging task, mainly due to the nonlinear dynamics of the system and the uncertainty affecting its physical parameters. In this paper, a robust tuning of a PID control loop for an EMB is proposed. First, a control-relevant linear model of the system is derived. Then, the optimal parameters of the controller are tuned by solving a convex pole-placement problem and probabilistic robustness guarantees are provided according to the scenario theory. Finally, the performance of the proposed strategy is assessed on a complex nonlinear simulator of the EMB dynamics, and compared with the state of the art approach for robust control of EMBs.
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