Model-free tuning of plants with parasitic dynamics

Franco Bianchini, Gianfranco Fenu, Giulia Giordano, Felice Andrea Pellegrino

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We have recently considered the problem of tuning a static plant described by a differentiable input-output function, which is completely unknown, but whose Jacobian takes values in a known polytope of matrices: To drive the output to a given desired value, we have suggested an integral feedback scheme, whose convergence is ensured if the polytope of matrices is robustly full row rank. The suggested tuning scheme may fail in the presence of parasitic dynamics, which may destabilize the loop if the tuning action is too aggressive. Here we show that such tuning action can be applied to dynamic plants as well if it is sufficiently 'slow', a property that we can ensure by limiting the integral action. We provide robust bounds based on the exclusive knowledge of the largest time constant and of the matrix polytope to which the system Jacobian is known to belong. We also provide similar bounds in the presence of parasitic dynamics affecting the actuators.

Original languageEnglish
Title of host publicationProceedings of the 2017 IEEE 56th Annual Conference on Decision and Control
EditorsA Astolfi
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-150902873-3
Publication statusPublished - 2017
EventCDC 2017: 56th IEEE Annual Conference on Decision and Control - Melbourne, Australia
Duration: 12 Dec 201715 Dec 2017


ConferenceCDC 2017: 56th IEEE Annual Conference on Decision and Control
OtherThe CDC is recognized as the premier scientific and engineering conference dedicated to the advancement of the theory and practice of systems and control. The CDC annually brings together an international community of researchers and practitioners in the field of automatic control to discuss new research results, perspectives on future developments, and innovative applications relevant to decision making, systems and control, and related areas.
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