摘要: In Chap. 7, we consider the design of fixed structure controllers for uncertain systems in H ∞ framework. Although presented procedures apply any kind structured controller, focus mainly on most widely used them which is PID. Two approaches will be considered: mixed sensitivity method and loop-shaping procedure. Using these methods, resulting PID problem formulated as an inherently non-convex optimization problem. The tuning applicable both to stable unstable systems, without limitation concerning order process controlled. Various examples are give practical insights into methods presented.
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