Stability analysis of closed loop TRMS with observer based reliable H infinity controller using Kharitonov’s stability theorem

  • Authors

    • Vidya S. Rao
    • V I. George
    • Surekha Kamath
    • C Shreesha
    2018-04-20
    https://doi.org/10.14419/ijet.v7i2.21.11846
  • TRMS, Uncertainties, kharitonov’s polynomials, routh’s array, robust stability bound, observer based reliable H infinity controller.

  • Abstract

    The laboratory Twin Rotor Multiple Input Multiple Output System (TRMS) serving as a model of a helicopter has un modeled errors in its model, due to linearization, measurement errors, equipment wear, sensors or/and actuator failures. This mismatch is termed as uncertainties in the model. Due to sensor and actuator failure there would exist a large range of uncertainties. In this paper, the range of robust stability bound for closed loop TRMS along with observer based reliable H infinity controller using Kharitonov’s stability theorem is found. The variation in parameters of TRMS from its nominal values are shown. The Kharitonov’s stability analysis on TRMS proves that within the mentioned uncertainty limit the TRMS along with observer based reliable H infinity controller gives the closed loop stable response.

     

  • References

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      [2] Mondal S & Mahanta C, “Adaptive second order sliding mode controller for twin rotor multiple input and multiple output systemâ€, IET Control Theory and Applications, Vol.6, No.14, (2012), pp.2157-2167.

      [3] Jung-Hua Y & Wen Chun H, “Adaptive back stepping control for electrically driven unmanned helicopterâ€, Control Engineering Practice, Vol.17, No.8, (2009), pp.903-913.

      [4] Rajan PK & Reddy HC, “An alternate circuit theoretic proof for Kharitonov’s stability criterionâ€, IEEE, (1989), pp.1784-1787.

      [5] Kharitonov VL, “Asymptotic stability of an equilibrium position of a family of systems of linear differential equationsâ€, Differential equations, Vol.14, (1979), pp.1483-1485.

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  • How to Cite

    S. Rao, V., I. George, V., Kamath, S., & Shreesha, C. (2018). Stability analysis of closed loop TRMS with observer based reliable H infinity controller using Kharitonov’s stability theorem. International Journal of Engineering & Technology, 7(2.21), 106-111. https://doi.org/10.14419/ijet.v7i2.21.11846

    Received date: 2018-04-21

    Accepted date: 2018-04-21

    Published date: 2018-04-20