A model matching approach for designing decentralized MIMO controllers (Q5952974)

A frequency-domain methodology for the design of decentralized control systems for multiple-input-multiple-output (MIMO) plants is presented. The method allows the designer to directly specify the disturbance response of the individual loops. The desired responses are incorporated through appropriately chosen reference models. A streamlined reference specification procedure is developed that allows the designer to visualize the tradeoff between robustness and response speed. The method is applicable to stable, non-minimum phase, irrational, and a certain class of unstable plant models. The design examples demonstrate that achieving good disturbance rejection in each idividual loop in most cases provides satisfactory set-point response and good decoupling.