Robust Wiener-Hopf Design for Multivariable Control Systems and Applications toVibration Suppression on a Weapon System

摘要

Trade offs between stability margin and performance are considered in two andthree degree of freedom multivariable control systems using a Wiener Hopf design approach. Maximum improvement in an approximate measure of stability margin is achieved at the expense of a prescribed increase in the quadratic cost functional measuring system performance. In order to attain an analytical solution to this fundamental trade off problem, the approximate measure of stability margin chosen is also a quadratic cost function. A novel approach is introduced which allows structured perturbations in the coprime polynomial matrix fraction description of the plant transfer matrix to be taken into account. As a consequence, it is believed that the use of an approximate measure of stability margin is mitigated. Moreover, if needed, the solution obtained could serve as a very good initial one from which to search for better solutions iteratively. The aforementioned control design methodology was implemented on the available testbeds for advanced weapon pointing systems at the Picatinny Army Arsenal in New Jersey.