Abstract : The experience gained with numerous successful applications permits to revisit some points of model-free control. The numerical differentiation of noisy signals may be replaced by a real time parameter identification which is much simpler. The strange ubiquity of classic PIDs is explained as well as the almost universal utilization of ultra-local models of order 1. We show that even with a partially known model the utilization of an intelligent PI controller remains profitable. Two examples, an inverted pendulum and a heat exchanger, seem to confirm the superiority of model-free control with respect to sliding modes control and techniques stemming from infinite-dimensional systems, such as delays or partial differential equations. Our paper is illustrated by several computer simulations.
https://hal-polytechnique.archives-ouvertes.fr/hal-00581109
Contributor : Michel Fliess
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Submitted on : Wednesday, March 30, 2011 - 5:28:15 PM
Last modification on : Thursday, February 7, 2019 - 4:50:17 PM
Document(s) archivé(s) le : Thursday, March 30, 2017 - 8:56:52 AM
Michel Fliess, Cédric Join, Samer Riachy. Rien de plus utile qu'une bonne théorie : la commande sans modèle. 4èmes Journées Doctorales / Journées Nationales MACS, JD-JN-MACS, Jun 2011, Marseille, France. 2011. 〈hal-00581109v2〉
