Robust two degree-of-freedom control for MIMO system with both model and signal uncertainties

Yangmin Xie, Andrew G Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the study, a model inversion based two degree-of-freedom (DOF) controller is proposed to achieve optimal robust performance for multi-input-multi-output (MIMO) system with existence of both model and signal uncertainties. The original plant dynamics are modified by a pre-compensator and a post-compensator to obtain a diagonally dominant matrix, where the selected dynamics of the plant are contained within the diagonal entries. The inversion of the diagonal matrix, as a result, reflects the inversion of the plant dynamics within a specified frequency range. The feedback controller is designed using a standard H2 mixed sensitivity approach. The feedforward controller consists of plant inversion and a feedforward filter, which is optimized to balance the trade-off between nominal performance and robust performance under model uncertainty and signal uncertainty. A numerical example is used to demonstrate the improvement of the robust performance when using the optimal feedforward control.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsXiaohua Xia, Edward Boje
PublisherIFAC Secretariat
Pages9313-9320
Number of pages8
ISBN (Electronic)9783902823625
StatePublished - Jan 1 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Xie, Y., & Alleyne, A. G. (2014). Robust two degree-of-freedom control for MIMO system with both model and signal uncertainties. In X. Xia, & E. Boje (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 9313-9320). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat.