Robust tracking design for uncertain MIMO systems using proportional–integral controller of order v

• Published in: Asian journal of control Vol. 23; no. 5; pp. 2042 - 2063
• Main Authors: Celentano, Laura, Basin, Michael V., Chadli, Mohammed
• Format: Journal Article
• Language: English
• Published: 01.09.2021
• Subjects: Cartesian robots; PIν controller; processes with unmeasurable states; robust tracking method; systems with additional bounded nonlinearities; uncertain linear time‐invariant (LTI) MIMO systems
• ISSN: 1561-8625; 1934-6093
• DOI: 10.1002/asjc.2405

This paper provides a systematic method to design robust tracking controllers of reference signals with bounded derivatives of order ν for uncertain multi‐input multi‐output (MIMO) systems with bounded parametric uncertainties, in particular, of rational multi‐affine type, and/or in presence of disturbances with bounded derivatives of order ν. The proposed controllers have state‐feedback structures combined with proportional–integral regulators of order ν (PIν). Theoretical tools and systematic methodologies are provided to effectively design robust controllers for the considered systems, also in case of additional bounded nonlinearities and/or not directly measurable states. Applicability and efficiency of the proposed methods are validated through three examples: the first one is theoretical and useful to validate the proposed methodology, the second case study presents a metal‐cutting problem for an industrial robot, and the third example deals with a composite robot, such as a milling machine.