Robust PID control design for an electrostatic micromechanical actuator with structured uncertainty
Robust PID control design for an electrostatic micromechanical actuator with structured uncertainty
- Author(s): M. Vagia and A. Tzes
- DOI: 10.1049/iet-cta:20070284
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- Author(s): M. Vagia 1 and A. Tzes 1
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View affiliations
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Affiliations:
1: Electrical and Computer Engineering Department, University of Patras, Rio, Greece
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Affiliations:
1: Electrical and Computer Engineering Department, University of Patras, Rio, Greece
- Source:
Volume 2, Issue 5,
May 2008,
p.
365 – 373
DOI: 10.1049/iet-cta:20070284 , Print ISSN 1751-8644, Online ISSN 1751-8652
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A robust proportional integral derivative (PID) controller coupled to a feedforward compensator is designed for set-point regulation manoeuvres of an electrostatic micromechanical system. The system is linearised at multiple operating points, and the feedforward compensator provides the nominal voltage. Perturbations around these points are handled from the PID controller, whose gains are tuned via the utilisation of a linear matrix inequality (LMI) approach, which guarantees robustness against the switching nature of the linearised system dynamics. The maximum microspring-stiffness parametric uncertainty that can be tolerated within this scheme, is computed through the use of the small gain theorem. Simulation studies are presented that proves the efficacy of the suggested scheme.
Inspec keywords: linear matrix inequalities; uncertain systems; three-term control; electrostatic actuators; feedforward; robust control; control system synthesis
Other keywords:
Subjects: Microactuators; Algebra; Stability in control theory; Control system analysis and synthesis methods
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