Development of a MIMO QFT CAD Package (Version 2)

This paper presents the up-dating of Version 1 of the MIMO/QFT CAD package to handle the design of discrete in addition to analog robust control systems for MIMO uncertain plants. Version 2 of the CAD package is capable of carying an analog or discrete design problem from problem setup through the design process to a frequency domain analysis of the compensated MIMO system. For analog control problems, the design process is performed in the s-plane, while for the discrete control problems the plants discretized and the design process is performed in the w´-plane. The package automates the selection of the weighting matrix; descretization of the plants; formation of the square effective plants; the polynomial matrix inverse required to form the equivalent plants; generation of templates; selecion of a nominal plant; generation of stablity, tracking, disturbance, gamma, and composite bounds; loop shaping; design of the prefilter elements; frequency-domain analysis of the completed design; and the export of the completed design to MATRIXx or MATLAB for time-domain simulation. Disturbance allocation is automatically performed while generating the tracking bounds. The package allows gain scheduling to be used in the weighting matrix. The improved method may be applied for the general case of an m×m effective plant. The package is implemented usig Mathematica for use on the Sun Workstations.