Design of Model-Based Gain Scheduling Controllers for Nonlinear Systems
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Authors
Zaher, Ashraf
Issue Date
2018
Type
Journal Article
Peer-Reviewed
Peer-Reviewed
Language
Keywords
Alternative Title
Abstract
The design of controllers for nonlinear systems has always been a challenge due to their complex dynamic structures that have ill-defined models with inherent uncertainties. This article investigates the implementation of PID controllers, using a gain scheduling technique that allows dynamic tuning of their gains. The methodology introduced in this paper is model-based, where sub-models for the system to be controlled are created, based on the output, as a scheduling parameter. Dominant dynamics of the nonlinear models are encapsulated into a linearized version that has a dynamic nature to effectively cover the whole range of operation. A pole-placement technique is used to design the PID dynamic gain. The proposed technique is shown to be effectively applied to robotic manipulators, process industry, and automotives.
Description
Citation
Ashraf Zaher, “Design of Model-Based Gain Scheduling Controllers for Nonlinear Systems.” Journal of Physics, 1141.1 (2018): 012117:1-8.
Publisher
Journal of Physics
License
Journal
Volume
1141.1
Issue
12117