System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator
Abstract: This paper presents
investigations into the development of a linear matrix inequalities (LMI) based
robust PID control of a nonlinear Two-Link Flexible Manipulator (TLFM)
incorporating payload. A set of linear models of a TLFM is obtained by using
system identification method in which the linear model represents the operating
ranges of the dynamic system. Thus, the LMI constraints permit to robustly
guarantee a certain perturbation rejection level and a region of pole
location. To study the effectiveness of
the controller, initially a PID control is developed for TLFM with varying
payloads. The performances of the controllers are assessed in terms of the
input tracking controller capability of the system as compared to the response
with PID control. Moreover, the robustness of the LMI based robust PID control
schemes is discussed. Finally, a comparative assessment of the control
strategies is presented.
Author: M. Khairudin, Z.
Mohamed, A.R. Husain
Journal Code: jptkomputergg140093
