l1 PID Controller Synthesis via Delta Operator Approach
- Resource Type
- Conference
- Authors
- Li, Rui; Cao, Kairui; Xie, Jinmei; Du, Hairui; Zeng, Ming
- Source
- 2023 7th International Conference on Robotics, Control and Automation (ICRCA) Robotics, Control and Automation (ICRCA), 2023 7th International Conference on. :67-72 Jan, 2023
- Subject
- Robotics and Control Systems
Linear systems
Discrete-time systems
Systematics
PI control
Automation
PD control
Robots
PID control
l1 performance
delta operator approach
cone complementary linearization algorithm
- Language
This paper proposes a systematic way of designing PID controllers for discrete-time systems with l 1 performance. By using the system augmentation techniques, the PID control system is converted into a static output feedback (SOF) control system. Then, the SOF control system is represented in delta domain. A cone complementary Linearization (CCL) algorithm is presented to calculate the desired SOF controller, from which the PID controller can be recovered. Simulation examples are given to show the effectiveness of the proposed method.