1. Direct Synthesis of Reduced-Order Controllers With Integrating Action for a Class of Norm-Bounded Uncertain Plants
- Author
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Gopmandal, Falguni, Ghosh, Arun, and Chakraborty, Rajib
- Abstract
Reduced-order controller design for uncertain plants is, in general, iterative in nature. This article identifies a class of multivariable plant transfer functions having uncertain parameters, for which a reduced-order controller with integrating action can be designed following a direct synthesis method recently reported in the literature for fixed multivariable plants. The features of observability canonical state-space representation of single-input–single-output plants are exploited to obtain such a class of multivariable plants. The plants are found to have: 1) no finite zeros in the element transfer function; 2) same pole polynomial in each element transfer function of a row; and 3) order equal to the sum of the orders of all row pole polynomials. The proposed control design methodology is applied to a laboratory-based two-degree-of-freedom helicopter system having uncertain parameters. The robust performance behavior of the proposed control is validated through real-time experiments
- Published
- 2024
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