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| HAL: hal-00581109, version 2 |
| arXiv: 1103.5897 |
| Detailed view |  Export this paper |
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| 4èmes Journées Doctorales / Journées Nationales MACS, JD-JN-MACS, Marseille : France (2011) |
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| Available versions: | v1 (2011-03-30) | v2 (2011-03-31) |
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| Nothing is as Practical as a Good Theory: Model-Free Control --- Rien de plus utile qu'une bonne théorie : la commande sans modèle |
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| Michel Fliess 1Cédric Join 2, 3 |
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| (2011-06-09) |
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| The experience gained with numerous successful applications permits to revisit some points of model-free control. The numerical differentiation of noisy signals may be replaced by a real time parameter identification which is much simpler. The strange ubiquity of classic PIDs is explained as well as the almost universal utilization of ultra-local models of order 1. We show that even with a partially known model the utilization of an intelligent PI controller remains profitable. Two examples, an inverted pendulum and a heat exchanger, seem to confirm the superiority of model-free control with respect to sliding modes control and techniques stemming from infinite-dimensional systems, such as delays or partial differential equations. Our paper is illustrated by several computer simulations. |
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| 1: | Laboratoire d'informatique de l'école polytechnique (LIX) |
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CNRS : UMR7161 – Polytechnique - X |
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| 2: | Centre de recherche en automatique de Nancy (CRAN) |
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CNRS : UMR7039 – Université Henri Poincaré - Nancy I – Institut National Polytechnique de Lorraine (INPL) |
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| 3: | Non-A (INRIA Lille - Nord Europe) |
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INRIA : LILLE - NORD EUROPE |
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| 4: | Électronique et Commande des Systèmes Laboratoire (ECS-Lab) |
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Ecole Nationale Supérieure de l'Electronique et de ses Applications – ENSEA |
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| Subject | : | Computer Science/Automatic Control Engineering Engineering Sciences/Automatic Mathematics/Optimization and Control |
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| Model-free control – intelligent PI – PID – identification – inverted pendulum – heat exchanger – sliding modes – delays – partial differential equations. |
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| hal-00581109, version 2 | |
| http://hal-polytechnique.archives-ouvertes.fr/hal-00581109 | |
| oai:hal-polytechnique.archives-ouvertes.fr:hal-00581109 | |
| From: Michel Fliess | |
| Submitted on: Wednesday, 30 March 2011 17:28:15 | |
| Updated on: Friday, 18 January 2013 16:42:20 | |
