General MIMO H/sub infinity / control design framework

摘要

A general framework is presented for solving the multiple-input multiple-output (MIMO) H/sub infinity / control design problem. Algorithms are available which solve the problem, once the control design configuration including process model and weighting functions has been rewritten into the standard H/sub infinity / problem. A general framework is defined to close the gap between all the different control configurations, the standard H/sub infinity / problem, and the final closed-loop system evaluation. Because no solution is known for translating design specifications such as desired behavior, robustness performance, etc. directly into weighting functions in the frequency domain, the necessarily iterative design procedure becomes much easier. A floating platform laboratory process is used to illustrate the main steps of the framework and to show the results of the optimized H/sub infinity / controller design.