A Decentralized Controller for the Robust Stabilization of a Class of MIMO Dynamical Systems
- 1 June 1994
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 116 (2) , 293-304
- https://doi.org/10.1115/1.2899223
Abstract
This work deals with the problem of the robust stabilization of a class of multi-input multi-output (MIMO) dynamical systems. A simple decentralized controller is proposed, which reduces to the classical PID controller in case of single-input single-output dynamical systems. Such a controller includes integral actions for the compensation of the entire dynamics of the system. The paper is completed with an application to robotic systems.Keywords
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