Multivariable Non-adaptive Controller Design

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dc.contributor.author Saab, Samer Jr.
dc.contributor.author Hauser, Michael
dc.contributor.author Ray, Asok
dc.contributor.author Saab, Samer
dc.date.accessioned 2020-07-10T09:50:11Z
dc.date.available 2020-07-10T09:50:11Z
dc.date.copyright 2020 en_US
dc.date.issued 2020-07-10
dc.identifier.issn 0278-0046 en_US
dc.identifier.uri http://hdl.handle.net/10725/11960
dc.description.abstract Although proportional-integral-derivative (PID) control remains one of the most common control schemes used in industry, its tuning still remains inadequately understood in many applications. This task becomes much more challenging when applied to multi-input multi-output (MIMO) systems. This paper presents the design of a discrete-time robust multivariable (non-adaptive) tracking controller that comes with a simple structure, requires very limited information on the plant model, and is relatively easy to tune. In addition to being easy to tune and implement, an objective of this controller is to deal with a class of large-scale systems with complex dynamics. We analytically demonstrate the robustness and convergence of the closed-loop system for a class of MIMO linear time-varying systems. The overall superiority of the proposed controller is experimentally validated on a Barrett robot arm in a laboratory environment. The paper also provides a stochastic framework of the general setting of the controller. Within this framework, two minimum mean square error optimal solutions of the controller are provided; one is designed for the case where the number of inputs is not greater than the number of outputs, and the other is for the antithesis. en_US
dc.language.iso en en_US
dc.title Multivariable Non-adaptive Controller Design en_US
dc.type Article en_US
dc.description.version Published en_US
dc.author.school SOE en_US
dc.author.idnumber 199690250 en_US
dc.author.department Electrical And Computer Engineering en_US
dc.description.embargo N/A en_US
dc.relation.journal IEEE Transactions on Industrial Electronics en_US
dc.journal.volume 68
dc.journal.issue 7
dc.article.pages 6181-6191
dc.keywords Tuning en_US
dc.keywords Control systems en_US
dc.keywords Adaptation models en_US
dc.keywords Convergence en_US
dc.keywords Manipulators en_US
dc.keywords Noise measurement en_US
dc.identifier.doi https://doi.org/10.1109/TIE.2020.2998753 en_US
dc.identifier.ctation Saab, S. S., Hauser, M., & Ray, A. (2020). Multivariable Non-adaptive Controller Design. IEEE Transactions on Industrial Electronics, 68 (7), 6181-6191. en_US
dc.author.email ssaab@lau.edu.lb en_US
dc.identifier.tou http://libraries.lau.edu.lb/research/laur/terms-of-use/articles.php en_US
dc.identifier.url https://ieeexplore.ieee.org/abstract/document/9108578 en_US
dc.orcid.id https://orcid.org/0000-0003-0124-8457 en_US
dc.author.affiliation Lebanese American University en_US

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