This paper presents a set of algorithm for all achievable coefficients of Proportional Integral Derivative (PID) controllers that stabilize the system and satisfy a mixed sensitivity constraint with an uncertain time delay. Additive uncertainty modeling is used to describe the uncertainty of perturbed system. Additive uncertainty modeling performs much faster response with the time running of computer programming in MATLAB. This technique is applied to a ball and beam system transfer function with the assumption of uncertain communication time delays in the system process. The goal of this application is to regulate a ball position on a beam and also satisfy the mixed sensitivity constraint.
Mixed Sensitivity Design of PID Controller-Applied to a Ball and Beam System
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Emami, T. "Mixed Sensitivity Design of PID Controller-Applied to a Ball and Beam System." Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition. Volume 4A: Dynamics, Vibration, and Control. Tampa, Florida, USA. November 3–9, 2017. V04AT05A005. ASME. https://doi.org/10.1115/IMECE2017-72084
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