ROBUST CONTROLLER-DESIGN BASED ON SIMPLIFIED TRIANGULAR MODEL

In this paper a simplified triangular model is suggested for approxima ting the impulse response of a stable system. The triangular model has only three parameters and is easy to identify. Both dead-beat control ler and extended horizon predictive controller are redesigned based on this triangular model. Under simple conditions the robust stability a nd zero tracking error of the resulted closed-loop system are guarante ed. Simulations show that two kinds of robust controllers are effectiv e and work well even with unknown piecewise-constant disturbances. (C) 1998 Elsevier Science Ltd. All rights reserved.