The poles placement based control design for the subclass of real uncertain 2D systems.

This paper addresses the problem of analysis and control synthesis for multi-mass systems. They are modeled in terms of the particular subclass of 2D systems, i.e. spatially interconnected systems. Hence, the resulting state space model for such plant is two-dimensional, where one of indeterminates is time (continuous) and the latter is the number (location) of the node (cart) in the system considered. What's more, it is assumed that the model is uncertain and the procedure how to address the uncertainty is provided. The main result of the paper is upon presenting the control scheme design that meets the assumed goals. In this case those are: assuring the appropriate dynamics of the controlled system (by placing the poles of the closed loop system in the predefined region on the complex plane) and driving the output of the system to the reference. To prove the usefulness of the proposed method it has been experimentally evaluated on the real system.