This work deals with the problem of the robust stabilization of a class of multi-input multi-output (MIMO) dynamical systems. A simple decentralized controller is proposed, which reduces to the classical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems.

A Decentralized Controller for the Robust Stabilization of a Class of MIMO Dynamical Systems

VALIGI, Paolo
1994-01-01

Abstract

This work deals with the problem of the robust stabilization of a class of multi-input multi-output (MIMO) dynamical systems. A simple decentralized controller is proposed, which reduces to the classical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11391/910440
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