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research-article

Discrete-time robust control with an anticipative action for preview systems

[+] Author and Article Information
Asma Achnib

Univ. Bordeaux, CNRS, IMS, UMR 5218, Bordeaux INP, CNRS, IMS, UMR 5218, 33405 Talence, France
asma.achnib@u-bordeaux.fr

Tudor-Bogdan Airimitoaie

Univ. Bordeaux, CNRS, IMS, UMR 5218, Bordeaux INP, CNRS, IMS, UMR 5218, 33405 Talence, France
tudor-bogdan.airimitoaie@u-bordeaux.fr

Patrick Lanusse

Univ. Bordeaux, CNRS, IMS, UMR 5218, Bordeaux INP, CNRS, IMS, UMR 5218, 33405 Talence, France
patrick.lanusse@bordeaux-inp.fr

Sergey Abrashov

Univ. Bordeaux, CNRS, IMS, UMR 5218, Bordeaux INP, CNRS, IMS, UMR 5218, 33405 Talence, France
sergey.abrashov@u-bordeaux.fr

Mohamed Aoun

University of Gabes, National Engineering School of Gabes, Laboratoire Modélisation, Analyse et Commande des Systèmes - LR16ES22
mohamed.aoun@gmail.com

Manel Chetoui

University of Gabes, National Engineering School of Gabes, Laboratoire Modélisation, Analyse et Commande des Systèmes - LR16ES22
chetoui.manel@gmail.com

1Corresponding author.

ASME doi:10.1115/1.4041711 History: Received March 07, 2018; Revised October 04, 2018

Abstract

A discrete-time robust controller design method is proposed for optimal tracking of future references in preview systems. In the context of preview systems, it is supposed that future values of the reference signal are available a number of time steps ahead. The objective is to design a control algorithm that minimizes a quadratic error between the reference and the output of the system and at the same time achieves a good level of the control signal. The proposed solution combines a robust feedback controller with a feedforward anticipative filter. The feedback controller's purpose is to assure robustness of the closed-loop system to model uncertainties. Any robust control methodology can be used (such as ?-synthesis, QFT, or CRONE control). The focus of this paper will be on the design of the feedforward action in order to introduce the anticipative effect with respect to known future values of the reference signal without hindering the robustness achieved through the feedback controller. As such, the model uncertainties are taken into account also in the design of the feedforward anticipative filter. The proposed solution is validated in simulation and on an experimental water tank level control system.

Copyright (c) 2018 by ASME
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