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research-article

A Note on Observer-Based Frequency Control for a Class of Systems Described by Uncertain Models

[+] Author and Article Information
Nirvana Popescu

Computer Science Department, University Politehnica, Bucharest, 313, Splaiul Independentei, 060042, Bucharest
nirvana.popescu@cs.pub.ro

Mircea Ivanescu

Mechatronic Department, University of Craiova, 13, Cuza Street, 200585, Craiova
ivanescu@robotics.ucv.ro

Decebal Popescu

Computer Science Department, University Politehnica, Bucharest, 313, Splaiul Independentei, 060042, Bucharest
decebal.popescu@cs.pub.ro

1Corresponding author.

ASME doi:10.1115/1.4037528 History: Received June 14, 2016; Revised July 04, 2017

Abstract

The paper focuses on the robust control problem for a class of linear uncertain systems by using frequency techniques. The controller/observer dynamics are analysed using Lyapunov techniques, in terms of the state and state estimation error, for an uncertainty constrained over a specified range. A Popov-type criterion, a "circle criterion", defined as the Popov frequency condition and the uncertainty circle, is formulated. It is proved that the closed-loop system is robustly stable if the Popov condition holds at all frequencies. The proposed method is validated against a robust controller for a balancing robot.

Copyright (c) 2017 by ASME
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