Robust PID controller design with H2 performance: Descriptor systems approach
Vojtech Veselý – Ladislav Körösi
The paper deals with the problem to obtain robust PID controller design procedure to linear time invariant descriptor uncertain polytopic systems using descriptor system stability theory and H2 criterion approach in the form of quadratic cost function. In the frame of Lyapunov function, H2 quadratic cost function and Bellman-Lyapunov equation the obtained designed novel procedure guarantees the robust properties of closed-loop system with parameter dependent quadratic stability/quadratic stability. In the obtained design procedure, the designer could use controller with different structure like as P, PI, PID, PI-D. For PI-D controller's D-part feedback the designer could choose any available output/state derivative variables of real systems. The effectiveness of the obtained results is demonstrated on the randomly generated examples.
Keywords: robust PID controller, uncertain polytopic systems, Lyapunov function