Taylor, C. James and Shaban, E. and Stables, M. and Ako, S. (2007) Proportional-integral-plus control applications of state-dependent parameter models. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 221 (I7). pp. 1019-1032. ISSN 0959-6518
Abstract
This paper considers proportional-integral-plus (PIP) control of non-linear systems defined by state-dependent parameter models, with particular emphasis on three practical demonstrators: a microclimate test chamber, a 1/5th-scale laboratory representation of an intelligent excavator, and a full-scale (commercial) vibrolance system used for ground improvement on a construction site. In each case, the system is represented using a quasi-linear state-dependent parameter (SDP) model structure, in which the parameters are functionally dependent on other variables in the system. The approach yields novel SDP-PIP control algorithms with improved performance and robustness in comparison with conventional linear PIP control. In particular, the new approach better handles the large disturbances and other non-linearities typical in the application areas considered.