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Robust Control of Multiple Integrator Systems Subjected to External Disturbance and Bounded Control

Amini, Samad | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50491 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Haeri, Mohammad
  7. Abstract:
  8. This thesis is concerned with the robust control of multiple integrator systems, subjected to input saturation and external disturbance. Since nested saturation method has been demonstrated to be an effective tool for control of a chain of integrators, a feedback law using nested saturation is proposed. In order to deal with disturbance, an extended state observer is applied to nested saturation controller and a comprehensive analysis of stability is also presented. The existence of constant parameters in the proposed controller makes the design conservative which results in performance degradation in some cases at the presence of disturbance. To overcome this issue, an adaptive approach utilizing time varying parameters is employed. The introduced method not only leads to performance improvement but also guarantees asymptotic stability when the system is exposed to constant disturbance. In the next step, the performance of the proposed control law is compared with the existing methods in the case of a triple integrator chain. It is shown that the proposed approach significantly improves the transient and steady state performance of closed-loop system at the presence of external disturbances. In order to evaluate the performance of proposed method on a larger class of systems, a laboratory prototype system is used as a basis of simulation. The effectiveness of the method is demonstrated through tracking of square and sinusoidal signal. Eventually, by considering integral absolute error as a comparison criterion, the results demonstrate superiority of the nested saturation control based on extended state observer over other methods
  9. Keywords:
  10. Extended State Observer ; Stability Analysis ; Robustness Against Parameter Variations ; Input Saturation ; Multiple Integrator Systems ; External Disturbance ; Time-Varying Parameters

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