Two-dimensional loop shaping (Q1400312)

This paper presents a framework and a constructive technique for designing feedback controllers for a class of practical spatially distributed systems. In the modelled processes, the state of a uniform physical substrate is influenced by an array of evenly distributed, identically constructed actuators, and measured by an array of evenly distributed, identical sensors. The main contribution of this article is to render a constructive procedure that is able to design spatially distributed feedback controllers for practical implementation. The full controller design is addressed by this procedure, including specification, synthesis, and implementation. The design technique incorporates recent results from the optimal synthesis of controllers for spatially-invariant systems and extends traditional loop shaping techniques for dynamical systems into the two-dimensional frequency domain. For instance, in the broad class of two-dimensional systems under examination it is found that high performance may be achieved at low spatial and temporal frequencies, while robustness requirements must be imposed at high spatial and temporal frequencies. The paper addresses two important problems related to the implementation of the designed controller: (1) performance near the boundaries of the spatial domain, and (2) its implementation as a low-order, spatially localized control law with a causal time-domain update equation. The proposed design procedure described in this paper offers the theoretical basis for a software package that has been implemented in a commercial product for tuning cross-directional controllers, already running on (several dozen) industrial paper machine systems.