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Digital inverse model control using Generalised holds with extensions to the adaptive case

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  • Control Theory
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Abstract

In this paper, a digital implementation of an inverse-model based control scheme is proposed using Generalised Sampling and Hold Functions. The implementation of the controller using this kind of holds allows overcoming the difficulties related to the presence of unstable zeros in the continuous-time model and the usual appearance of unstable discretisation zeros in the discrete model when a ZOH is applied. The Generalised Sampling and Hold Functions allows obtaining a discrete model of the plant with all its zeros stable which allows realizing an exact inverse model of the plant in comparison to the use of a classical ZOH which only allows, in general, an approximate inversion of the plant. The proposed approach is then extended to the adaptive case where the stability and tracking properties of the general scheme are fully proved. Simulation examples showing the scope and application of the method are also presented.

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Authors and Affiliations

  1. Department of Telecommunications and Systems Engineering, Universitat Autònoma de Barcelona, 08193, Bellaterra, Barcelona, Spain

    Asier Ibeas, Ramón Vilanova & Carles Pedret

  2. Department of Electricity and Electronics, Faculty of Science and Technology, University of the Basque Country, P. O. 644, 48080, Bilbao, Spain

    Manuel de la Sen

  3. Department of Industrial Systems and Design, Universitat Jaume I, 12080, Castelló, Spain

    Pedro Balaguer

Authors
  1. Asier Ibeas
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  2. Manuel de la Sen
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  3. Pedro Balaguer
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  4. Ramón Vilanova
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  5. Carles Pedret
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Corresponding author

Correspondence to Asier Ibeas.

Additional information

Recommended by Editorial Board member Seung Hi Lee under the direction of Editor Young Il Lee. This work was supported by Spanish Ministry of Science and Technology through research grants DPI2007-63356, DPI2009-07197, DPI2007-64570 and by the Basque Government via Research Grants Groups no. IT378-10.

Asier Ibeas was born in Bilbao, Spain, on July 7, 1977. He received his M.Sc. degree in Applied Physics and his Ph. D. degree in Automatic Control from University of the Basque Country, Spain, in 2000 and 2006, respectively. Recently he has been appointed Lecturer of Electrical Engineering at Autonomous University of Barcelona, Spain. His research interests include time-delayed systems, robust adaptive control and applications of artificial intelligence to control systems design.

Manuel de la Sen was born in Arrigorriaga, Bizkaia in the Spanish Basque Country. He obtained his M.Sc. degree in Applied Physics (Electronics and Automation) with honors from the Basque Country University in 1975, his Ph.D. degree in Applied Physics with high honors from the same University in 1979 and the degree of Docteur-d’Etatès-Sciences Physiques (specialité Automatique et Traitement du Signal) from the University of Grenoble (France) with “mention très honorable” in 1987. He has had several teaching and research positions in the University of the Basque Country in Bilbao (Spain) where he is currently Professor of Systems Engineering and Automatic Control in the Department of Electricity and Electronics and Head of the Institute of Research and Development of Processes IIDP. He has also had positions of Visiting Professor in the University of Grenoble (France), the University of Newcastle (New South Wales, Australia) and the Australian National University ANU (Canberra, Australia). He has been a member of the Editorial Board of the Electrosoft Journal (CML Mechanical and Computational Engineering Publications) and he is currently in the Editorial Board of the journals Nonlinear Analysis, Modelling and Control and Discrete Dynamics in Nature and Society. He has been author or coauthor of a number of papers in the fields of Expert and Adaptive Systems, Mathematical Systems Theory, Discrete and Time-Delay Systems and Ordinary Differential Equations, which are his research interest subjects. He acts and has acted as reviewer for several International Journals and Conferences of Control Theory and Engineering and Applied Mathematics.

Pedro Balaguer is currently with the Department of Industrial Systems Engineering and Design at University Jaume I de Castelló. He obtained his MSc from the Polytechnic University of Valencia and from 2003 to 2004 he was with the Center for Rehabilitation Engineering, at the University of Glasgow. He obtained his Ph.D. at the Autonomous University of Barcelona. His current research interest include the application of robust and adaptive control to dimensionally similar systems and the formalization of control systems on the basis of information concepts.

Ramón Vilanova was born in Lérida, Spain, on September 10, 1968. He graduated in the Autonomous University of Barcelona (1991) obtaining the title of doctor through the same University (1996). At present he occupies the position of Lecturer at the School of Engineering of the Autonomous University of Barcelona where develops educational task teaching subjects of Signals and Systems, Automatic Control and Technology of Automated Systems. His research interests include methods of tuning of PID regulators, systems with uncertainty, analysis of control systems with several degrees of freedom, application to environmental systems and development of methodologies for design of machine-man interfaces. He is author of several book chapters and has more than 100 publications in international congresses/journals. He is a member of IEEE and SIAM.

Carles Pedret was born in Tarragona, Spain. He received his B.Sc. degree in Electronic Engineering and his Ph.D. degree in System Engineering and Automation from the Autonomous University of Barcelona, in 1997 and 2003, respectively. He is currently working as a Research Academic in the Department of Telecommunications and System Engineering in the Autonomous University of Barcelona. His research interest is in uncertain systems, time-delay systems and robust control.

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Ibeas, A., de la Sen, M., Balaguer, P. et al. Digital inverse model control using Generalised holds with extensions to the adaptive case. Int. J. Control Autom. Syst. 8, 707–719 (2010). https://doi.org/10.1007/s12555-010-0401-7

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  • DOI: https://doi.org/10.1007/s12555-010-0401-7

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