Cheap decoupled control

DOI10.1016/S0005-1098(01)00096-6MaRDI QIDQ5947657zbMATH OpenOpenAlexWikidataFDO

Authors Thomas Brinsmead, Graham C. Goodwin

Publication date 10 April 2002

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(01)00096-6

zbMATH Keywords

\(H^\infty\)-controlachievable closed loop transfer functionsaverage quadratic tracking errorcheap control costcheap decoupled controldecoupling cost factordiagonal structuresdynamic output feedbacklinear systemsmultiple-input multiple-outputparamerization of decoupling controllersperformance limitspole/zero spreadingquadratic optimal regulatorsstate feedbackWiener-Hopf frequency domain techniques

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Feedback control (93B52) Pole and zero placement problems (93B55)

Review text

Requiring a controlled system to be decoupled may increase some performance costs, however, decoupling may be desirable from an applied perspective. The main results of the paper are an explicit quantification of decoupling cost in terms of the average quadratic tracking error. Decoupling increases the cheap control cost by spreading non-minimum-phase zeroes and unstable poles. This increase, quantified by the ``decoupling cost factor, may be small or large, depending on the alignment of zero and pole directions, and the extent of zero and pole spreading. For state feedback, the decoupling cost factor is limited by \(p\), the number of outputs. For output feedback, however, it may be arbitrarily large. The analysis exploits the parametrization of all decoupling controllers, together with Wiener-Hopf frequency domain techniques. Two illustrative examples are considered, one with a small decoupling cost factor, and one with a larger.

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Cites work

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Cited in

(3)

• Robust stability design of decoupling controllers using Nevanlinna-Pick algorithm with relative degree constraints
• H₂design of one-degree-of-freedom decoupling controllers for square plants
• Cheap CTL compassion in NuSMV

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