A design of H∞ model-matching multivariable controller by spectral analysis using model-free controller tuning

This paper proposes the model-free multivariable controller tuning method for the H_∞ model matching problem based on spectral analysis. This method provides a controller without the plant model by using only Input/Output data. It evaluates the H_∞ norm of the difference between the reference model and the achieved closed-loop system. Therefore, this method can design a controller in consideration of the worst-case performance. The proposed method is numerically verified via the experimental apparatus.