Jakub Osuský

Decentralized Digital PID Controller Design for Performance

Abstract The paper deals with the frequency domain decentralized discrete-time controller design methodology to guarantee specified performance of the overall system. The underlying theory evolves from the stability conditions developed in the “Equivalent Subsystems Method” approach and applies closed-loop performance specification based on the relationship between phase margins of equivalent subsystems and maximum overshoot of the full system. To design local PI controllers for specified phase margin, Bode plots of discrete equivalent subsystems are used. Designed local continuous controllers are then converted to their discrete versions and implemented for the controlled plant. The design procedure is illustrated on the case study.

Direct Design of Robust Decentralized Controllers

Abstract The paper introduces an important enhancement to the robust decentralized controller design for multi input/multi output uncertain systems within the setting of the Equivalent Subsystems Method (ESM). The class of design problems considered includes guaranteeing robust stability and nominal performance in terms of maximum overshoot of the full system achieved through specified phase margins in equivalent subsystems. The developed design procedure is illustrated by an example.

Multimodel Robust Control for Hydraulic Turbine

The paper deals with the multimodel and robust control system design and their combination based on structure. Controller design will be done in the frequency domain with nominal performance specified by phase margin. Hydraulic turbine model is analyzed as system with unstructured uncertainty, and robust stability condition is included in controller design. Multimodel and robust control approaches are presented in detail on hydraulic turbine model. Control design approaches are compared and used for derivation of new approaches which combine advantages of both.