Title :
Multivariable three-term optimal controller design for large-scale systems
Author :
Davison, Edward J. ; Davison, Daniel E. ; Lam, Simon
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
Abstract :
This paper deals with the design of controllers for large-scale linear time-invariant multi-input multi-output systems, such as those that often arise in process control. We focus on two standard controller objectives: (i) asymptotic regulation subject to unmeasurable constant disturbances, and/or (ii) asymptotic tracking of constant set-points. In either case, standard output-feedback controller design methodologies typically result in controllers that have order at least as large as that of the plant; for large-scale systems, the controller order can consequently be impractically large. The purpose of this paper is to introduce, for the subclass of plants that are open-loop stable, a low-order three-term (i.e., PID) multivariable control design approach that is practical to compute numerically, even for large-scale systems. A design algorithm and existence results to construct such a controller are given, and the approach is applied to several examples. Remarkably, at least for the examples considered, the three-term controller´s performance is quite similar to that achieved by the standard (much higher order) controller that solves the servomechanism problem.
Keywords :
control system synthesis; feedback; large-scale systems; multivariable systems; optimal control; stability; three-term control; asymptotic regulation; asymptotic tracking; constant set-points; higher order controller; large-scale linear time-invariant multiinput multioutput systems; large-scale systems; low-order three-term multivariable control design; multivariable three-term optimal controller design; open-loop stable; output-feedback controller design; servomechanism problem; three-term controller; unmeasurable constant disturbances; Algorithm design and analysis; Control design; Control systems; Design methodology; Large-scale systems; Open loop systems; Optimal control; Process control; Servomechanisms; Three-term control;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399957