Mixed sensitivity control: a non-iterative approach
Recent analytical solutions to Mixed Sensitivity Control (MSC) are developed and compared with standard MSC based on γ -iteration. The proposed MSC solution gives conditions for strong stability and overcomes the pole-zero cancellations between the plant and the controller of non-iterative solutions...
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| Format: | Article |
| Language: | English |
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2020
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| Online Access: | http://eprints.uanl.mx/19845/1/Mixed%20sensitivity%20control%20a%20non%20iterative%20approach.pdf |
| _version_ | 1824415675025719296 |
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| author | Galindo Orozco, René |
| author_facet | Galindo Orozco, René |
| author_sort | Galindo Orozco, René |
| collection | Repositorio Institucional |
| description | Recent analytical solutions to Mixed Sensitivity Control (MSC) are developed and compared with standard MSC based on γ -iteration. The proposed MSC solution gives conditions for strong stability and overcomes the pole-zero cancellations between the plant and the controller of non-iterative solutions, keeping the low-computational effort advantage of non-iterative solutions. The proposed MSC is based on the minimization of the most common closed-loop sensitivity functions in low frequencies and the free-parameters of the stabilizing-controllers solve an algebraic equation of
restriction that assigns the same value to the infinity-norms of the sensitivity functions at low and high-frequencies, guaranteeing robust stability and robust performance. It is assumed that the plant state dimension is double the plant input dimension and that the linear time-invariant nominal plant has a stabilizable and detectable realization and is strongly stabilizable. This MSC problem is solved in a one-parameter observer-controller configuration and reference tracking-control of positions is realized on a two-degrees of freedom feedback-configuration. An approximated optimal value of the location of the closed-loop poles is proposed based on Glover and McFarlane’s optimal stability margin [(1989)] which in turn is based on Nehari’s Theorem. Simulations of a mechanical system illustrate the results. |
| format | Article |
| id | eprints-19845 |
| institution | UANL |
| language | English |
| publishDate | 2020 |
| record_format | eprints |
| spelling | eprints-198452020-08-31T17:30:37Z http://eprints.uanl.mx/19845/ Mixed sensitivity control: a non-iterative approach Galindo Orozco, René Ingeniería y Tecnología Recent analytical solutions to Mixed Sensitivity Control (MSC) are developed and compared with standard MSC based on γ -iteration. The proposed MSC solution gives conditions for strong stability and overcomes the pole-zero cancellations between the plant and the controller of non-iterative solutions, keeping the low-computational effort advantage of non-iterative solutions. The proposed MSC is based on the minimization of the most common closed-loop sensitivity functions in low frequencies and the free-parameters of the stabilizing-controllers solve an algebraic equation of restriction that assigns the same value to the infinity-norms of the sensitivity functions at low and high-frequencies, guaranteeing robust stability and robust performance. It is assumed that the plant state dimension is double the plant input dimension and that the linear time-invariant nominal plant has a stabilizable and detectable realization and is strongly stabilizable. This MSC problem is solved in a one-parameter observer-controller configuration and reference tracking-control of positions is realized on a two-degrees of freedom feedback-configuration. An approximated optimal value of the location of the closed-loop poles is proposed based on Glover and McFarlane’s optimal stability margin [(1989)] which in turn is based on Nehari’s Theorem. Simulations of a mechanical system illustrate the results. 2020-07-23 Article PeerReviewed text en cc_by_nc_nd http://eprints.uanl.mx/19845/1/Mixed%20sensitivity%20control%20a%20non%20iterative%20approach.pdf http://eprints.uanl.mx/19845/1.haspreviewThumbnailVersion/Mixed%20sensitivity%20control%20a%20non%20iterative%20approach.pdf Galindo Orozco, René (2020) Mixed sensitivity control: a non-iterative approach. Systems Science & Control Engineering, 8 (1). pp. 441-453. ISSN 2164-2583 http://doi.org/10.1080/21642583.2020.1793821 doi:10.1080/21642583.2020.1793821 |
| spellingShingle | Ingeniería y Tecnología Galindo Orozco, René Mixed sensitivity control: a non-iterative approach |
| thumbnail | https://rediab.uanl.mx/themes/sandal5/images/online.png |
| title | Mixed sensitivity control: a non-iterative approach |
| title_full | Mixed sensitivity control: a non-iterative approach |
| title_fullStr | Mixed sensitivity control: a non-iterative approach |
| title_full_unstemmed | Mixed sensitivity control: a non-iterative approach |
| title_short | Mixed sensitivity control: a non-iterative approach |
| title_sort | mixed sensitivity control a non iterative approach |
| topic | Ingeniería y Tecnología |
| url | http://eprints.uanl.mx/19845/1/Mixed%20sensitivity%20control%20a%20non%20iterative%20approach.pdf |
| work_keys_str_mv | AT galindoorozcorene mixedsensitivitycontrolanoniterativeapproach |