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Robust PID Controller Design Using Convex-Concave Optimization
Chawalit Thabthimrattana,Surachai Saelim,Suchol Tiewcharoen,Sudchai Boonto 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can be solved by frequency gridding on a software package CVX. Experiments on an unstable magnetic levitation system are presented. The proposed controller shows significantly better performance than a robust H∞ controller designed by a standard method on the same unstable system.