The design of decentralized controllers for the robust servomechanism problem using parameter optimization methods - Some case studies

The problem of designing realistic decentralized controllers to solve the robust decentralized servomechanism problem [1] is considered in this paper. In particular, it is desired to find a decentralized controller for a plant to solve the robust servomechanism problem so that closed loop stability and asymptotic regulation occur, and also so that other desirable properties of the controlled system, such as fast response, low-interaction, integrity, tolerance to plant variations, constraints on gain magnitudes etc. occur. The method of design is based on extending the centralized design method of [2], [3] as is described in [4]. It is the purpose of this paper to outline some case studies of the design method when applied to plants varying from 2nd to 9th order with controllers of various complexity.