A new Nyquist-based technique for tuning robust decentralized controllers

Title:

A new Nyquist-based technique for tuning robust decentralized controllers

Creator:

Kozáková, Alena, Veselý, and Osuský, Jakub

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:d380c061-1a34-4894-b98d-53730c8fed91
uuid:d380c061-1a34-4894-b98d-53730c8fed91

Subject:

multivariable system, decentralized controller, frequency domain, independent design, robust stability, and unstructured uncertainty

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

An original Nyquist-based frequency domain robust decentralized controller (DC) design technique for robust stability and guaranteed nominal performance is proposed, applicable for continuous-time uncertain systems described by a set of transfer function matrices. To provide nominal performance, interactions are included in individual design using one selected characteristic locus of the interaction matrix, used to reshape frequency responses of decoupled subsystems; such modified subsystems are termed "equivalent subsystems". Local controllers of equivalent subsystems independently tuned for stability and specified feasible performance constitute the decentralized controller guaranteeing specified performance of the full system. To guarantee robust stability, the M−Δ stability conditions are derived. Unlike standard robust approaches, the proposed technique considers full nominal model, thus reducing conservativeness of resulting robust stability conditions. The developed frequency domain design procedure is graphical, interactive and insightful. A case study providing a step-by-step robust DC design for the Quadruple Tank Process [K.H. Johansson: Interaction bounds in multivariable control systems. Automatica 38 (2002), 1045-1051] is included.

Language:

English

Rights:

http://creativecommons.org/publicdomain/mark/1.0/
policy:public

Coverage:

[63]-83

Source:

Kybernetika | 2009 Volume:45 | Number:1

Harvested from:

CDK

Metadata only:

false