This paper introduces a new methodology to synthesize automatically robust controllers in the Quantitative Feedback Theory (QFT) framework. The method avoids the classical gridding of the controller's phase, and deals with multi-objective specifications and parametric uncertainty in the plant model. By tacking the required robust stability and robust performance specifications, and grouping them into two nonlinear quadratic inequalities, the method derives a nonlinear and frequency-dependent expression for the controller magnitude, which is independent of the controller phase. Then, by evaluating this expression for every frequency of interest, and using a least-square-type algorithm with phase constraints to find the parameters of an a priory fix order controller structure, the method finds automatically the most appropriate controller parameters to meet all the multi-objective specifications for all the plants within the uncertainty. The method is exemplified with a DC motor control application.


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    Title :

    Automatic loop shaping of QFT robust controllers with multi-objective specifications via nonlinear quadratic inequalities


    Contributors:
    Garcia-Sanz, M (author) / Molins, C (author)


    Publication date :

    2010-07-01


    Size :

    2098147 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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