Utilization of numerical optimization techniques in the design of robust multi-input, multi-output control systems

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Author
Gordon, Vernon C.
Date
1984-09Advisor
Collins, Daniel J.
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A direct design method for solving the problem of robustness to cross-coupling perturbations in
mulltivariable control systems is presented. The method uses numerical optimization procedures
to manipulate the system feedback gains as direct design variables. The manipulation is accomplished in a manner that produces desired performance by pole placement and robustness by modification of the minimum singular values of the system return difference matrix. Channels affected by cross-coupling perturbation may be recognized by the character of their transfer function plot.
The mechanism used by the pole placement and robustness routine in obtaining a robust design is evident from the gain changes associated with the transfer and the zero shifts shown on pole-zero function diagram plots. The pole placement and robustness routine uses gain equalization and zero assignment to modify the characteristics of the system in the areas of low singular values, producing a robust design. A modification of the pole placement and robustness routine uses gain equalization and zero assignment to modify the characteristics of the system in the areas of low singular values, producing a robust design. A modification of the pole placement that may be applied to the design routine observers is also presented. Using feedback and filter gains as direct design variables a practical design procedure for robustness recovery in observer based systems is obtained.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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