General MIMO H∞ control design framework

A general framework is presented for solving the multiple-input multiple-output (MIMO) H_∞ control design problem. Algorithms are available which solve the problem, once the control design configuration including process model and weighting functions has been rewritten into the standard H_∞ problem. A general framework is defined to close the gap between all the different control configurations, the standard H_∞ problem, and the final closed-loop system evaluation. Because no solution is known for translating design specifications such as desired behavior, robustness performance, etc. directly into weighting functions in the frequency domain, the necessarily iterative design procedure becomes much easier. A floating platform laboratory process is used to illustrate the main steps of the framework and to show the results of the optimized H_∞ controller design