Robust PID controller design for nonlinear systems

Vojtech Veselý – Ladislav Körösi

   In this paper the new approach to the design of robust PID controller for the case of nonlinear Lipschitz systems is proposed. The proposed method is based on the uncertain gain scheduling plant model and Bellman Lyapunov equation. The designed robust controller ensures parameter dependent quadratic stability and in the frame of H$_2$ performance guaranteed cost. Examples show the effectiveness of the proposed method.

Keywords: robust controller; Lipschitz systems; gain scheduled controller, Bellman Lyapunov equation

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