Controller design via the synthesis equation
A comprehensive and efficient frequency domain methodology for the design of controllers for high order single-input-single-output (SISO) plants is presented. The unique advantage of the methodology is that it enables the designer to readily visualize the optimum structure for the controller in the early stage of design. This eliminates time consuming and often frustrating trial-and-error iterations in controller design which is characteristic of many of the current methods. The methodology has been motivated by the need for a streamlined procedure to directly synthesize a low order, robust controller with which the controlled step response can be made to closely match that of a prespecified reference model. The method does not require order reduction of the original model. Also, only output feedback is utilized. The method is applicable to non-minimum phase, unstable, and irrational plant transfer functions. It is ideally suited to design local controllers for the subsystems so that they replicate low order models with compatible dynamic characteristics. Examples are given to demonstrate the method.
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