Development of Stability/Robustness Considerations for Control System Design with Multiple Input/Multiple Output Plants

摘要

An investigation into stable, robust control system design with multiple input/multiple output (MIMO) plants was conducted. Stability/robustness was identified as the first and primary source of concern in MIMO control system design and thus is the focus of research. Performance/robustness requirements and the meeting of additional performance specifications are largely left for future research. A design example is presented, however, which incorporates the meeting of certain performance criteria into the overall framework of achieving MIMO stability/robustness. Methods which can be utilized to assess the stability/robustness properties of MIMO nominal plant models without control are developed and identified as the first step in the compensator (or controller) design process. The previously developed Model Based Compensator/Linear Quadratic Gaussian/Loop Transfer Recovery (MBC/LQG/LTR) method is adopted as the general framework for MIMO compensator design and numerous computer programs generated to implement it. These programs are written for use with the engineering software package PC-MATLAB. (KR)