Experimental validation of different MIMO-feedback controller design methods

摘要

The multivariable tracking performance of an automotive vibration test rig can be improved by extending the current industrial off-line iterative feedforward procedure with a real-time feedback controller. This paper tests and validates three different MIMO-control schemes on an industrial test rig. Firstly decentralized (or diagonal) control is used, which is a combination of independently designed SISO-controllers based on the diagonal elements of the MIMO-system model. Secondly full MIMO H_∞-control, based on a MIMO-model is tested. Finally inverse-based control is applied to the test rig, this is a combination of a pre-compensator dealing with the interaction in the system and a decentralized controller, designed for the compensated system. The performance of these controllers is compared experimentally, and the best controller is combined with the off-line feedforward control, showing a significant reduction of the tracking error.