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DISCRETE-TIME ROBUST POLE-PLACEMENT DESIGN THROUGH GLOBAL OPTIMIZATION
Miguel Ayala Botto*, Robert Babuška** José Sá da Costa*
* Technical University of Lisbon, Instituto Superior Técnico
Department of Mechanical Engineering, GCAR
Av. Rovisco Pais, 1049-001 Lisboa, Portugal
tel: +351 218 419 028, fax: +351 218 498 097
e-mail: ayalabotto@ist.utl.pt
** Delft University of Technology, Faculty ITS, Control Laboratory
Mekelweg 4, P.O. Box 5031, 2600 GA Delft, The Netherlands
tel: +31 15 27 85117, fax: +31 15 27 86679
e-mail: r.babuska@its.tudelft.nl
A robust pole placement controller design method is presented for discrete-time systems with parametric model uncertainties contained within known bounds. The design methodology is based on the minimization of a cost function by using genetic algorithms. It allows for a thorough assessment of robust performance in addition to robust stability. The effectiveness of this technique is shown for a real-time experimental laboratory-scale helicopter system.
Keywords: robust control, pole assignment, uncertainty, genetic algorithms, helicopter dynamics
Session slot T-Tu-M21: Posters of Control Design/Area code 2a : Control Design
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