Robust PID TS fuzzy control methodology based on gain and phase margins specifications

作者: Ginalber L.O. Serra , Joabe A. Silva

DOI: 10.3233/IFS-130778

关键词:

摘要: This paper proposes the analysis and design of TS fuzzy robust PID control based on gain phase margins specifications for uncertain nonlinear dynamic systems with time delay. The input-output data set delay system is decomposed into several spaces by Gustafson-Kessel GK clustering algorithm, which are used to compute linear submodels least squares grouped in a Takagi-Sugeno inference system. From specifications, frequency domain, analytical formulas derived model via Paralel Distributed Compensation PDC strategy, considering influence main contribution proposal two theorems related necessary sufficient conditions design. first theorem shows that controller i-th rule guarantees corresponding model. second stability all models. A simulation example illustrates efficiency single link robotic manipulator when compared others methods. experimental results real-time termic process obtained demonstrate effectiveness practical viability proposed strategy.

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