M., Khairudin (2014) LINEAR MATRIX INEQUALITY BASED PROPORTIONAL INTEGRAL DERIVATIVE CONTROL FOR HIGH ORDER PLANT. Proceeding of International Conference On Research, Implementation And Education Of Mathematics And Sciences 2014. (Submitted)
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Abstract
This study presents the application of Linear Matrix Inequalities (LMI) approach in designing a proportional integral derivative (PID) controller for a high order plant. This work also proposes practical steps in designing the robust controller. To cast this control design problem into the LMI framework, the transfer functions of the system with various payloads are obtained by carrying out nonlinear system identification. Subsequently, the dynamic model is represented into convex formulation which leads to the formulation of system requirement into LMIs representation that can accommodate the convex model. A set of robust PID gains is then obtained by solving the LMIs with desired specifications. For performance assessment, a PID controller is also designed using Ziegler Nichols (ZN) technique for all loading conditions. System responses namely hub angular position and deflection of both links of the flexible manipulator are evaluated in time and frequency domains. The performance of the LMI-PID controller is verified by comparing with the results using the ZN-PID controller in terms of time response specifications of hub angular position and level of deflection in time and frequency domains.
| Item Type: | Article |
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| Uncontrolled Keywords: | control, LMI, PID, robust. |
| Subjects: | Prosiding > ICRIEMS 2014 > MATHEMATICS & MATHEMATICS EDUCATION |
| Divisions: | Fakultas Matematika dan Ilmu Pengetahuan Alam (FMIPA) > Pendidikan Matematika > Matematika |
| Depositing User: | Eprints |
| Date Deposited: | 07 Nov 2014 04:28 |
| Last Modified: | 07 Nov 2014 04:28 |
| URI: | http://eprints.uny.ac.id/id/eprint/11498 |
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