Uncertainty Modelling and Mixed Sensitivity Hinf Design on a Pilot- Scale Flotation Column
| Authors: | Muanis Persechini Maria Auxiliadora, Federal University of Minas Gerais, Brazil
Fantini Miranda Marcio, Federal University of Minas Gerais, Brazil
Goncalves Jota Fabio, Federal University of Minas Gerais, Brazil |
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| Topic: | 2.5 Robust Control |
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| Session: | Robust Controller Synthesis |
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| Keywords: | Robust Control, Uncertainty Systems, System Identification, Modelling, MixedSensitivity, Flotation Column |
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Abstract
A methodology for modelling and designing ${\cal{H}}_{\infty}$ controllers for an experimental pilot-scale flotation column plant is described. Experimental results, including the modelling procedure and an ${\cal{H}}_{\infty}$ design, are presented. For this purpose, different models, for different operating conditions, are determined, by means of system identification techniques. A strategy to get the uncertainty model, using a multiplicative nonstructured norm bounded uncertainty is also defined. The complete model is used for an ${\cal{H}}_{\infty}$ design using the mixed sensitivity approach. All the results have been tested in a real pilot-scale flotation column operating in a water air system.
