@inproceedings{28a9ec27903e4c24931b4d5d98e6a80b,
title = "Robust two degree-of-freedom control for MIMO system with both model and signal uncertainties",
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.",
author = "Yangmin Xie and Alleyne, {Andrew G}",
year = "2014",
month = jan
day = "1",
language = "English (US)",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "9313--9320",
editor = "Xiaohua Xia and Edward Boje",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
note = "19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",
}