Robustness evaluation and robust design for proportional-integral-plus control

Design Methods and Tuning of Bilinear Proportional-integral-plus Controllers

Proportional-Integral-Plus control of an Intelligent Excavator

This paper considers the application of Proportional-Integral-Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on-line and implemented in a rather ad hoc manner. By contrast, the present research u...

Proportional-integral-plus control applications of state-dependent parameter models

This paper considers proportional-integral-plus (PIP) control of non-linear systems defined by state-dependent parameter models, with particular emphasis on three practical demonstrators: a microclimate test chamber, a 1/5th-scale laboratory representation of an intelligent excavator, and a full-scale (commercial) vibrolance system used for ground improvement on a construction site. In each cas...

Proportional–integral-plus (PIP) control of the ALSTOM gasifier problem

Although it is able to exploit the full power of optimal state variable feedback within a non-minimum state-space (NMSS) setting, the proportional–integral-plus (PIP) controller is simple to implement and provides a logical extension of conventional proportional–integral and proportional–integral–derivative (PI/PID) controllers, with additional dynamic feedback and input compensators introduced...

Proportional-integral-plus (PIP) control of time delay systems

The paper shows that the digital proportional-integral-plus (PIP) controller formulated within the context of non-minimum state space (NMSS) control system design methodology is directly equivalent, under certain non-restrictive pole assignment conditions, to the equivalent digital Smith predictor (SP) control system for time delay systems. This allows SP controllers to be considered within the...