Optimal control of non-minimum phase integrating processes with time delay using disturbance observer-based control scheme |
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| Authors: | Wei Zhang Zhong Yin Yongxiong Wang Weidong Zhang |
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| Affiliation: | 1. Shanghai Key Lab of Modern Optical System, and Engineering Research Center of Optical Instrument and System, Ministry of Education, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai, People’s Republic of China;2. Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, People’s Republic of China |
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| Abstract: | A systematical design method of optimal control for non-minimum phase integrating processes with time delay using disturbance observer-based (DOB) control scheme is presented. All stabilising controllers and the filter of DOBs for integrating plants are developed. Then the optimal set-point tracking controller and the optimal filter of DOB are systematically derived by minimising the H2 norm performance specifications. The proposed design method has three main advantages. First, the design procedure is systematical and simple. Specified weight functions are chosen for step inputs and inputs similar to steps. The designed set-point tracking controller and the filter of DOB are given in analytical forms. Second, the designed set-point tracking controller and the filter of the DOB are optimal. They are derived from minimising the performance indexes of set-point tracking and input load disturbance rejection (ILDR). Finally, the set-point tracking performance specification and ILDR specification can be quantitatively achieved by conveniently tuning the adjustable parameters. Numerical simulations are given to illustrate the effectiveness of the proposed method. |
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| Keywords: | Optimal control internal model control integrating processes DOB NMP |
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