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Inversion-free decentralised quantitative feedback design of large-scale systems

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  • B. Labibi
  • S.M. Mahdi Alavi

Abstract

In this paper, a new method for robust decentralised control of multi-input multi-output (MIMO) systems using quantitative feedback theory (QFT) is suggested. The proposed method does not need inversion of the plant transfer function matrix in the design process. For a given system, an equivalent descriptor system representation is defined. By using this representation, sufficient conditions for closed-loop diagonal dominance over the uncertainty space are obtained. These conditions transform the original MIMO system into a set of isolated multi-input single-output (MISO) subsystems. Then, the local controllers are designed by using the typical MISO QFT technique for each isolated subsystem to satisfy the predefined desired specifications and the closed-loop diagonal dominance sufficient conditions. The proposed technique is less conservative in comparison to the approaches using the over-bounding concept in the design procedure. The effectiveness of the proposed technique is finally assessed on a MIMO Scara robot.

Suggested Citation

  • B. Labibi & S.M. Mahdi Alavi, 2016. "Inversion-free decentralised quantitative feedback design of large-scale systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(8), pages 1772-1782, June.
    • Handle: RePEc:taf:tsysxx:v:47:y:2016:i:8:p:1772-1782
    DOI: 10.1080/00207721.2014.951523
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