IJE TRANSACTIONS B: Applications Vol. 26, No. 11 (November 2013) 1289-1298   

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M. Rezaei Darestani, A. A. Nikkhah and A. Khaki Sedigh
( Received: December 25, 2012 – Accepted: February 28, 2013 )

Abstract    To improve the performance of a robust control, in presence of internal or external disturbance and uncertainties, to make a smooth tracking and elimination of high frequency disturbances especially in accurate systems with minimum power consumption an integration of robust optimal controller considered. Here, derivation and implementation of the proposed controller based on the combination of and controllers to use their characteristics against unknown disturbances is considered. The proposed controller was implemented on a 3 axis gyro-stabilized MIMO platform. The results which express the control designer desires, compared to the implemented NLPID and a single controller on the same system.


Keywords    3 axis GSP, predictive control, H2/H∞ control


چکیده    در راستای افزايش کارآيي کنترل‌کننده مقاوم در حالت وجود اغتشاشات خارجي و نامعيني‌ها جهت دستيابي به ردگيري يکنواخت و حذف کليه اغتشاشات، خصوصا در سيستم‌هاي دقيق با صرف کمترين تلاش کنترلي مصرفي، ترکيبي از کنترل‌کننده مقاوم پيشنهاد شده است. استخراج و پياده‌سازي اين ايده بر اساس ترکيبي از کنترل‌کننده‌هاي و جهت استفاده از خصوصيات آنها در برابر اغتشاشات نامعين در نظر گرفته شده است. کنترل‌کننده پيشنهادي بر روي يک پايدارساز 3 محوره ژيروسکوپي چند ورودي-چند خروجي پياده‌سازي شده است.نتايج شبيه‌سازي که نشان‌دهنده دست يافتن به خصوصيات موردنظر طراح سيستم کنترلي پيشنهادي مي‌باشد با يک کنترل‌کننده PID غيرخطي و يک کنترل‌کننده منفرد که در يک سيستم يکسان پياده‌سازي شده مقايسه گرديده است



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