The design of controllers for the multivariable robust servomechanism problem using parameter optimization methods
The problem of designing realistic multivariable controllers to solve the servomechanism problem is considered in this paper. Specifically, it is desired to find a controller for a plant to solve the robust servomechanism problem, so that closed-loop stability and asymptotic regulation occur, and al...
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| Published in | IEEE transactions on automatic control Vol. 26; no. 1; pp. 93 - 110 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
IEEE
01.02.1981
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0018-9286 |
| DOI | 10.1109/TAC.1981.1102558 |
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| Abstract | The problem of designing realistic multivariable controllers to solve the servomechanism problem is considered in this paper. Specifically, it is desired to find a controller for a plant to solve the robust servomechanism problem, so that closed-loop stability and asymptotic regulation occur, and also so that other desirable properties of the controlled system, such as fast response, low-interaction, integrity, tolerance to plant variations, etc., occur. The method of design is based on using state space methods via a two-stage process: 1) using theory, determine the existence of a solution and control structure required to solve the problem, and 2) using nonlinear programming methods, determine the unknown controller parameters so as to minimize a performance index for the system subject to certain constraint requirements. Numerous examples, varying from a single-input/single-output to a four-input/four-output system, are given to illustrate the design method, and the results obtained are compared with the results obtained by using other alternate design methods. In all cases, the controllers obtained have been highly competitive with controllers obtained by alternate design methods. |
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| AbstractList | The problem of designing realistic multivariable controllers to solve the servomechanism problem is considered in this paper. Specifically, it is desired to find a controller for a plant to solve the robust servomechanism problem, so that closed-loop stability and asymptotic regulation occur, and also so that other desirable properties of the controlled system, such as fast response, low-interaction, integrity, tolerance to plant variations, etc., occur. The method of design is based on using state space methods via a two-stage process: 1) using theory, determine the existence of a solution and control structure required to solve the problem, and 2) using nonlinear programming methods, determine the unknown controller parameters so as to minimize a performance index for the system subject to certain constraint requirements. Numerous examples, varying from a single-input/single-output to a four-input/four-output system, are given to illustrate the design method, and the results obtained are compared with the results obtained by using other alternate design methods. In all cases, the controllers obtained have been highly competitive with controllers obtained by alternate design methods. The problem of designing realistic multivariable controllers to solve the servomechanism problem is considered in this paper. Specifically, it is desired to find a controller for a plant to solve the robust servomechanism problem, so that closed-loop stability and asymptotic regulation occur, and also so that other desirable properties of the controlled system, such as fast response, low interaction, integrity, tolerance to plant variations, etc., occur. The method of design is based on using state space methods via a two-stage process: (1) using theory, the determination of the existence of a solution and control structure required to solve the problem, and (2) using nonlinear programming methods, the determination of the unknown controller parameters so as to minimize a performance index for the system subject to certain constraint requirements. Numerous examples, varying from a single-input/single-output to four-input/four-output system, are given to illustrate the design method, and the results obtained are compared with the results obtained by using alternate design methods. In all cases, the controllers obtained have been highly competitive with controllers obtained by alternate design methods. |
| Author | Davison, E. Ferguson, I. |
| Author_xml | – sequence: 1 givenname: E. surname: Davison fullname: Davison, E. organization: University of Toronto, Toronto, Ontario, Canada – sequence: 2 givenname: I. surname: Ferguson fullname: Ferguson, I. |
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| References | ref35 davison (ref13) 1974; 10 ref34 ref12 ref37 ref15 ref36 ref14 ref31 ref33 ref11 ref32 ref10 ref2 ref39 ref17 ref16 ref18 ref23 ref26 davison (ref19) 1975 davison (ref41) 1980 ref25 ref20 ref22 ref21 mayne (ref4) 0 macfarlane (ref7) 1973; 9 mayne (ref8) 1973; 9 ref28 ref27 lootsma (ref30) 1972 ref29 ref9 ref3 smith (ref24) 1976 ref6 rosenbrock (ref5) 1974 ref40 stein (ref38) 1978 davison (ref1) 0 |
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| SubjectTerms | Asymptotic stability Control systems Design methodology Nonlinear control systems Optimization methods Performance analysis Robust control Robust stability Servomechanisms State-space methods |
| Title | The design of controllers for the multivariable robust servomechanism problem using parameter optimization methods |
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