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Amira Kheriji,Faouzi Bouani,Mekki Ksouri 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.3
This paper proposes a new method to solve non convex min-max predictive controller for a class of constrained linear Multi Input Multi Output (MIMO) systems. A parametric uncertainty state space model is adopted to describe the dynamic behavior of the real process. Moreover, the output deviation method is used to design the j-step ahead output predictor. The control law is obtained by the resolution of a non convex min-max optimization problem under input constraints. The key idea is to transform the initial non convex optimization problem to a convex one by means of variable transformations. To this end, the Generalized Geometric Programming (GGP) which is a global deterministic optimization method is used. An efficient implementation of this approach will lead to an algorithm with a low computational burden. Simulation results performed on Multi Input Multi Output (MIMO) system show successful set point tracking, constraints satisfaction and good non-zero disturbance rejection.
Ibtissem Malouche,Faouzi Bouani 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
In this paper, a novel partially decentralized adaptive control strategy is presented to deal with a class of Multi Inputs Multi Outputs (MIMO) non-square, Linear Parameter Varying (LPV) systems. The key idea is the design of Proportional Integral Derivative (PID) regulator based on online pairing and tuning of its parameters using the Dynamic Relative Gain Array (DRGA) matrix. The proposed adaptive partially decoupled control scheme operates in a straightforward and systematic way. The convergence of the proposed controller is guaranteed by theoretical analysis, numerical simulations and experimental tests carried out on a non-holonomic two Wheeled Mobile Robot (WMR). Studies of the proposed regulator robustness against additive disturbance and stability over the whole parameter range are given to illustrate the effectiveness of the proposed PID scheme.