Robust Control of Twin Rotor MIMO System with Quantized Output

作     者：Margun A. Furtat I. Kremlev A. 

作者机构：Control Systems and Informatics Department ITMO University 49 Kronveksky av. Saint Petersburg 197101 Russian Federation Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering V.O. 61 Bolshoy str. Saint Petersburg 199178 Russian Federation 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2017年第50卷第1期

页      面：4849-4854页

基　　金：MuinssisiatrnyFoefdeErdatuicoant ioGnraanntd07S4c-iUen0c1e s2u0p1p6.o8r 14 Y31.16.9281 

主　　题：disturbance MIMO system parametric uncertainties quantizer Robust control 

摘      要：The paper is devoted to the design and experimental application of robust controller for MIMO plants under parametric uncertainties, external disturbances and quantized output measurement. Only quantized output is assumed to be measured. Controller synthesis is based on consecutive compensator approach. Experimental research is performed with use of helicopter like twin rotor MIMO laboratory bench. Experiments show efficiency of the proposed control method in comparison with PID controller. © 2017