A robust PI passivity-based control of nonlinear systems and its application to temperature regulation

Stanislav Aranovskiy (1) , Romeo Ortega (2) , Rafael Cisneros

1 ITMO University [Russia]
2 L2S - Laboratoire des signaux et systèmes

This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main contribution is the identification of a class of systems for which a globally stable PI can be designed knowing only the systems input matrix and measuring only the actuated coordinates. The construction of the PI is carried out invoking passivity theory. The difficulties encountered in the design of adaptive PI controllers with the existing theoretical tools are also discussed. As an illustration of the theory, we consider a class of thermal processes.

Keywords: Robust PI control; Passivity-based control; PH systems; Temperature regulation

Domains: Engineering Sciences [physics]

Stanislav Aranovskiy, Romeo Ortega, Rafael Cisneros. A robust PI passivity-based control of nonlinear systems and its application to temperature regulation. International Journal of Robust and Nonlinear Control, 2016, 26 (10), pp.2216 - 2231. ⟨10.1002/rnc.3404⟩. ⟨hal-01612254⟩