Robust Two Degree-Of-Freedom Control for MIMO System with Both Model and Signal Uncertainties
2014
Abstract In the study, a model inversion based two degree-of-freedom (DOF) controller is proposed to achieve optimal robust performance for multi-input-multi-output (MIMO) system with existence of both model and signal uncertainties. The original plant dynamics are modified by a pre-compensator and a post-compensator to obtain a
diagonally dominant matrix, where the selected dynamics of the plant are contained within the
diagonalentries. The inversion of the
diagonal matrix, as a result, reflects the inversion of the plant dynamics within a specified frequency range. The feedback controller is designed using a standard H 2 mixed sensitivity approach. The feedforward controller consists of plant inversion and a feedforward filter, which is optimized to
balancethe
trade-off between nominal performance and robust performance under model uncertainty and signal uncertainty. A numerical example is used to demonstrate the improvement of the robust performance when using the optimal feedforward control.
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