Correlation-Based Tuning of a Restricted-Complexity Controller for an Active Suspension System

摘要

A correlation-based controller tuning method is proposed for the "Design and optimisation of restricted-complexity controllers" benchmark problem. The approach originally proposed for model following is applied to solve the disturbance rejection problem. The idea is to tune the controller parameters such that the closed-loop output be uncorrelated with the measured disturbance. Since perfect decorrelation between the closed-loop output and the disturbance is not attainable with a restricted-complexity controller, the cross-correlation of these two signals is minimised. This is done iteratively using stochastic approximation. A frequency analysis of the controller-tuning criterion allows dealing with control specifications expressed in terms of constraints on the sensitivity functions. Application to the active suspension system of the Automatic Control Laboratory of Grenoble (LAG) provides a 2nd-order controller that meets the control specifications to a large extent.