Decentralized disturbance accommodation with limited plant model information

DOI10.1137/110860112MaRDI QIDQ2840148zbMATH OpenOpenAlexWikidataFDO

Authors Farhad Farokhi, Cédric Langbort, Karl Henrik Johansson

Publication date 17 July 2013

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1112.5032

zbMATH Keywords

linear-quadratic problemslinear optimal control problemproportional-integral controldecentralized disturbance accommodationdynamic disturbance observerlimited plant model informationstatic feedback law

Mathematics Subject Classification ID

Linear-quadratic optimal control problems (49N10) Problems with incomplete information (optimization) (49N30) Large-scale systems (93A15) Linear optimal control problems (49N05)

Abstract: The design of optimal disturbance accommodation and servomechanism controllers with limited plant model information is considered in this paper. Their closed-loop performance are compared using a performance metric called competitive ratio which is the worst-case ratio of the cost of a given control design strategy to the cost of the optimal control design with full model information. It was recently shown that when it comes to designing optimal centralized or partially structured decentralized state-feedback controllers with limited model information, the best control design strategy in terms of competitive ratio is a static one. This is true even though the optimal structured decentralized state-feedback controller with full model information is dynamic. In this paper, we show that, in contrast, the best limited model information control design strategy for the disturbance accommodation problem gives a dynamic controller. We find an explicit minimizer of the competitive ratio and we show that it is undominated, that is, there is no other control design strategy that performs better for all possible plants while having the same worst-case ratio. This optimal controller can be separated into a static feedback law and a dynamic disturbance observer. For constant disturbances, it is shown that this structure corresponds to proportional-integral control.

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