Robustní regulace

Abstract

Master’s thesis deals with the issue of the robust control, the basic concepts of robust control and robust stability are listed here. Robust stability is described by Kharitonov's theorem. In the thesis are described basics models of uncertainty, but this thesis deals only with the controlled systems with parametric uncertainty. Robust quality control is considered by the most important indicators of the quality control process. Robust regulator design is researched for the controlled systems with and without traffic delay. This described solving methods of the basic problems of robust control are shown on specific examples. In the thesis is researched the robustness of the method of the required model for proportional systems with parametric uncertainty from different points of view, which are also shown on specific examples. In conclusion, the thesis presents comparison of the experimental task with a hot air model and the regulation circuit with parametric uncertainties, where the control circuit is adjusted by the method of the desired model, by the classic Ziegler-Nichols method of critical parameters and method of transitional characteristic.