Structure observer-based controller for delayed systems with two unstable poles and minimum phase zeros

Carlos Daniel Vázquez (1) , David Novella (2) , Basilio del Muro (1) , Olivier Sename (2) , Luc Dugard (2) , Juan Francisco Márquez (1)

1 ESIME IPN - Escuela Superior de Ingenieria Mecanica y Eléctrica. Instituto Politécnico Nacional
2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

This paper analyse the problem of control and stabilization of a particular class of Linear Time Invariant (LTI) systems. The system under consideration has two unstable poles, n real stable poles, m minimum phase zeros plus time delay. An observer based controller with four tunable gains is proposed as control strategy in order to ensure stable behaviour of the closed loop system. Sufficient conditions for the existence of the proposed scheme are shown in terms of the upper limit of time delay size and the poles and zeros position. The controller parameters are tuned using hinfstruct which is a non-smooth H ∞ optimization method. The proposed control strategy it is applied to an unstable linearized model of a continuously stirred tank reactor (CSTR) in order to show the effectiveness of the proposed design scheme. Numerical results are presented.

Mots clés: Time-delay; Observers; zeros; H-infinity; stability

Domaines: Automatique / Robotique

Carlos Daniel Vázquez, David Novella, Basilio del Muro, Olivier Sename, Luc Dugard, et al.. Structure observer-based controller for delayed systems with two unstable poles and minimum phase zeros. IFAC TDS 2019 - 15th IFAC Workshop on Time Delay Systems, Sep 2019, Sinaia, Romania. ⟨10.1016/j.ifacol.2019.12.224⟩. ⟨hal-02158088⟩