This paper shows a robust multivariable PID controller design for a nonlinear quadruple tank process. The controller synthesis is reduced to an equivalent static output feedback control problem. The closed loop β /2 -stabilizable performance is guarantee for the linearized system with convex polytopic uncertainty. The algorithm is based on an iterative linear matrix inequality approach. The Parameter-dependent Lyapunov matrix functions, together with the Lyapunov matrix and the system dynamic matrix decoupling, are used in robust stabilizability conditions for conservatism reduction in the robust problem formulation. The design technique is illustrated with a numerical example.
|Title of host publication||2016 IEEE Ecuador Technical Chapters Meeting, ETCM 2016|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|State||Published - 21 Nov 2016|
|Event||2016 IEEE Ecuador Technical Chapters Meeting, ETCM 2016 - Quito, Ecuador|
Duration: 12 Oct 2016 → 14 Oct 2016
|Name||2016 IEEE Ecuador Technical Chapters Meeting, ETCM 2016|
|Conference||2016 IEEE Ecuador Technical Chapters Meeting, ETCM 2016|
|Abbreviated title||ETCM 2016|
|Period||12/10/16 → 14/10/16|
Bibliographical noteFunding Information:
The authors gratefully acknowledge the support offered by The Prometeo Project: Secretaría de Educación Superior, Ciencia, Tecnología e Innovación (Senescyt) and Universidad Politécnica Salesiana, both in the Republic of Ecuador, and the Universidad Simón Bolívar in Venezuela.
© 2016 IEEE.
- linear matrix inequality (LMI)
- multivariable PID control
- polytopic uncertainty
- quadruple-tank process
- static output feedback (SOF)