Identification, Uncertain Modelling, and Robust Control of Embedded Systems

  • Tsonyo Slavov Department of Systems and Control, Technical University of Sofia, Sofia, Bulgaria
  • Jordan Kralev Department of Systems and Control, Technical University of Sofia, Sofia, Bulgaria
  • Petko Petkov Department of Systems and Control, Technical University of Sofia, Sofia, Bulgaria
Keywords: embedded control systems, multivariable system identification, uncertainty modeling, robust control

Abstract

This paper presents a methodology embodying identification procedures, uncertain modeling, and robust control design of embedded multivariable control systems. Concerning the identification, this methodology involved the determination of probabilistic uncertainty bounds for multivariable plants based on the black box or gray box identification. The bounds obtained were used in the derivation of an uncertain model in the form of upper Linear Fractional Transformation (LFT). This model was used in the robust control design implementing μ-synthesis. The problems arising on the different design stages were illustrated by an example presenting the embedded robust control of a two-input two-output analog model. The plant was identified by using black box and gray box identification methods that produced the necessary information to develop the corresponding uncertainty models. Two discrete-time robust controllers relevant to the two types of identification were designed and embedded in the physical system. Simulation results for the embedded closed-loop system and experimental results obtained by using the robust controllers were compared.

Published
2021-03-09
How to Cite
[1]
Tsonyo Slavov, Jordan Kralev, and Petko Petkov, “Identification, Uncertain Modelling, and Robust Control of Embedded Systems”, Engineering Science & Technology, vol. 2, no. 2, pp. 1-20, Mar. 2021.