Inversion-free decentralised quantitative feedback design of large-scale systems

B. Labibi and S.M. Mahdi Alavi

International Journal of Systems Science, 2016, vol. 47, issue 8, 1772-1782

Abstract: In this paper, a new method for robust decentralised control of multi-input multi-output (MIMO) systems using quantitative feedback theory (QFT) is suggested. The proposed method does not need inversion of the plant transfer function matrix in the design process. For a given system, an equivalent descriptor system representation is defined. By using this representation, sufficient conditions for closed-loop diagonal dominance over the uncertainty space are obtained. These conditions transform the original MIMO system into a set of isolated multi-input single-output (MISO) subsystems. Then, the local controllers are designed by using the typical MISO QFT technique for each isolated subsystem to satisfy the predefined desired specifications and the closed-loop diagonal dominance sufficient conditions. The proposed technique is less conservative in comparison to the approaches using the over-bounding concept in the design procedure. The effectiveness of the proposed technique is finally assessed on a MIMO Scara robot.

Date: 2016
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DOI: 10.1080/00207721.2014.951523

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