Controller reduction with closed loop H infinity performance constraints: A QFT perspective
Suppose an initial stabilizing controller \(K_o(s)\) satisfying \textit{a priori} specified various closed loop frequency domain specifications for a given continuous-time multi input multi output (MIMO) linear time invariant system (LTI) system, is synthesized using for instance \(H_{\infty}\) control, the \(\mu\) based approach or closed loop convex synthesis. Its order is typically at least equal to the order of the plant. The goal of this paper is to find a stabilizing reduced order controller satisfying the closed loop design objectives at each frequency (a priori specified), and moreover minimizing the open loop bandwidth. The principle of the reduction method is very close to the idea of the single input single output (SISO) quantitative feedback theory (QFT) design approach, except that the problem of translating closed loop frequency domain specifications into open loop ones is much more complex in the MIMO case. First, a convex subset around \(K(j{\omega})\) at each frequency is built. Every point of this subset represents a feasible frequency response, i.e. satisfies the \(H_{\infty}\) design objectives specified a priori at this frequency. Then, supposing the controller is of the form \(K(j{\omega})=K_o(j{\omega})+\Delta K(j{\omega})\), the goal is to find the maximal size of the model perturbation \(\Delta K(j{\omega})\), which is selected as a simple full complex block. It is solved using the skew \(\mu\) tools. The problem reduces to the issue of finding a controller whose frequency response belongs at each frequency to a template. The convexity of these templates greatly facilitates the practical realization, since then the problem can be solved as an LMI problem. A short comparison with other reduction methods is discussed. Finally, the method is sucessfully applied to a standard \(H_{\infty}\) problem. Numerical results of this application are supplied.
- Controller reduction: concepts and approaches
- Controller approximation: approaches for preserving H/sub ∞/ performance
- Controller reduction with error performance: continuous- and discrete-time cases
- Control-relevant model reduction problems for SISO H2, H∞, and μ-controller synthesis
- Normalized H/sub ∞/ controller reduction with a priori error bounds
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