title: Computation of robustly stabilizing PID controllers for interval systems.
abstract: The paper is focused on the computation of all possible robustly stabilizing Proportional-Integral-Derivative (PID) controllers for plants with interval uncertainty. The main idea of the proposed method is based on Tan's (et al.) technique for calculation of (nominally) stabilizing PI and PID controllers or robustly stabilizing PI controllers by means of plotting the stability boundary locus in either P-I plane or P-I-D space. Refinement of the existing method by consideration of 16 segment plants instead of 16 Kharitonov plants provides an elegant and efficient tool for finding all robustly stabilizing PID controllers for an interval system. The validity and relatively effortless application of presented theoretical concepts are demonstrated through a computation and simulation example in which the uncertain mathematical model of an experimental oblique wing aircraft is robustly stabilized.
authors.affiliation: Centre for Security, Information and Advanced Technologies (CEBIA - Tech), Faculty of Applied Informatics, Tomas Bata University in Zlín, nám. T. G. Masaryka 5555, 760 01 Zlín, Czech Republic.
authors.forename: Radek
authors.initials: R
authors.lastname: Matušů
authors.affiliation: Centre for Security, Information and Advanced Technologies (CEBIA - Tech), Faculty of Applied Informatics, Tomas Bata University in Zlín, nám. T. G. Masaryka 5555, 760 01 Zlín, Czech Republic.
authors.forename: Roman
authors.initials: R
authors.lastname: Prokop
keywords: Interval systems; Oblique wing aircraft; PI control; PID control; Robust stabilization