Modified integral action with time-varying forgetting function for tracking control

VILLEGAS, FERNANDO; PEÑA, MIGUEL; HECKER, ROGELIO

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING

PROFESSIONAL ENGINEERING PUBLISHING LTD

Lugar: London; Año: 2020 vol. 234 p. 715 - 724

0959-6518

Whilethe use of integral action in control is quite common, in part due to itsbenefits for output regulation, it can also be counterproductive when abruptchanges in disturbance occur during tracking. In order to mitigate itscounterproductive effect while at the same time maintaining its advantages forregulation, this work proposes a new type of integral action, including atime-varying forgetting factor suited to the expected behavior of thedisturbance during tracking. Also, Lyapunov stability techniques are used toderive general results aiming to reduce the complexity of stability analysisand control design when the proposed integral action is included in a controllaw. In particular, these results are used for stability analysis when theproposed integral action is implemented in a deterministic robust controllerfor a linear motor system. Furthermore, the controller is implemented in thecorresponding experimental setup, resulting in an improvement on maximumtracking error of up to 32%.