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RESEARCH PAPERS

A Decentralized Controller for the Robust Stabilization of a Class of MIMO Dynamical Systems

[+] Author and Article Information
A. Tornambè, P. Valigi

Dipartimento di Ingegneria Elettronica, Seconda Università di Roma, Roma, Italy

J. Dyn. Sys., Meas., Control 116(2), 293-304 (Jun 01, 1994) (12 pages) doi:10.1115/1.2899223 History: Received September 11, 1991; Revised September 04, 1992; Online March 17, 2008

Abstract

This work deals with the problem of the robust stabilization of a class of multi-input multi-output (MIMO) dynamical systems. A simple decentralized controller is proposed, which reduces to the classical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems.

Copyright © 1994 by The American Society of Mechanical Engineers
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