Robust PID controller design using convex-concave optimization: Application to an unstable system

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Publication Details

Author list: Thabthimrattana C., Saelim S., Tiewcharoen S., Boonto S.

Publisher: IEEE Computer Society

Publication year: 2016

Volume number: 0

Start page: 638

End page: 643

Number of pages: 6

ISBN: 9788993215120

ISSN: 1598-7833

eISSN: 1598-7833

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85014029924&doi=10.1109%2fICCAS.2016.7832385&partnerID=40&md5=e5c4467e166427d9f8b13ca19fec2700

Languages: English-Great Britain (EN-GB)

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Abstract

This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can be solved by frequency gridding on a software package CVX. Experiments on an unstable magnetic levitation system are presented. The proposed controller shows significantly better performance than a robust H∞ controller designed by a standard method on the same unstable system. © 2016 Institute of Control, Robotics and Systems - ICROS.

Keywords

convex-concave optimization, fixed-structure controller, H∞ controller