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Robust Control Design to the Furuta System under Time Delay Measurement Feedback and Exogenous-Based Perturbation

Author

Listed:
  • Gisela Pujol-Vazquez

    (Department of Mathematics, Universitat Politècnica de Catalunya-BarcelonaTech (ESEIAAT), 08222 Terrassa, Spain)

  • Saleh Mobayen

    (Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan)

  • Leonardo Acho

    (Department of Mathematics, Universitat Politècnica de Catalunya-BarcelonaTech (ESEIAAT), 08222 Terrassa, Spain)

Abstract

When dealing with real control experimentation, the designer has to take into account several uncertainties, such as: time variation of the system parameters, exogenous perturbation and the presence of time delay in the feedback line. In the later case, this time delay behaviour may be random, or chaotic. Hence, the control block has to be robust. In this work, a robust delay-dependent controller based on H ∞ theory is presented by employing the linear matrix inequalities techniques to design an efficient output feedback control. This approach is carefully tuned to face with random time-varying measurement feedback and applied to the Furuta pendulum subject to an exogenous ground perturbation. Therefore, a recent experimental platform is described. Here, the ground perturbation is realised using an Hexapod robotic system. According to experimental data, the proposed control approach is robust and the control objective is completely satisfied.

Suggested Citation

  • Gisela Pujol-Vazquez & Saleh Mobayen & Leonardo Acho, 2020. "Robust Control Design to the Furuta System under Time Delay Measurement Feedback and Exogenous-Based Perturbation," Mathematics, MDPI, vol. 8(12), pages 1-15, November.
    • Handle: RePEc:gam:jmathe:v:8:y:2020:i:12:p:2131-:d:453460
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    References listed on IDEAS

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    1. Hassène Gritli, 2020. "LMI-Based Robust Stabilization of a Class of Input-Constrained Uncertain Nonlinear Systems with Application to a Helicopter Model," Complexity, Hindawi, vol. 2020, pages 1-22, January.
    2. Li, Erpeng & Long, Lijun & Zhao, Jun, 2015. "Global output-feedback stabilization for a class of switched uncertain nonlinear systems," Applied Mathematics and Computation, Elsevier, vol. 256(C), pages 551-564.
    3. Magdi S. Mahmoud, 2017. "Recent Progress in Stability and Stabilization of Systems with Time-Delays," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-25, June.
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    Cited by:

    1. Paolo Mercorelli, 2022. "Robust Control as a Mathematical Paradigm for Innovative Engineering Applications," Mathematics, MDPI, vol. 10(23), pages 1-4, November.

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