A ROBUST CONTROLLER BASED ON FRACTIONAL STRUCTURE FOR MIMO PLANT WITH MULTIPLE DELAYS

Moussa Sedraoui, Sofiane Gherbi, and Samir Abdelmalek

Keywords

Stability and performance robustness, integer and fractional structures of the controller, minimax and particle swarm optimizationproblems

Abstract

This paper provides a design synthesis method of robust controller for a multivariable uncertain plant with multiple delays. This controller satisfies a multiple H∞ norm specifications by minimizing a min-max optimization problem. First, a good initialization solution of the min-max optimization problem is given by the PSO algorithm (particle swarm optimization) that is proposed in this paper. Second, a new fractional structure of the controller with minimum parameters is proposed to the PSO algorithm and it is also proposed to the min-max optimization method. Comparing to the previous works, we can resolve a high-size optimization problem by using the proposed structure, on the other hand, we can also resolve a problem of reasonable number of gains, zeros and poles of the controller. Third, the obtained fractional structure of the controller is converted to the corresponding integer structure whose order can be easily determined by frequency identification approach. Finally, the obtained results are compared with both robust controllers, in the time and the frequency domains in order to control a multivariable uncertain plant with multiple delays.

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