The Design of Decentralized Controllers for the Robust Servomechanism Problem using Parameter Optimization Methods

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] to deal with the decentralized case. A number of examples are included to illustrate the design method.