A Frequency Domain Design Technique for Robust Decentralized Controllers

Authors:	Kozakova Alena, Slovak University of Technology, Slovakia (Slovak Republic) Vesely Vojtech, Slovak University of Technology, Slovakia (Slovak Republic)
Topic:	5.4 Large Scale Complex Systems
Session:	New Trend in Decentralized Control
Keywords:	decentralized control, robust stability, unstructured uncertainty

Abstract

The paper proposes a new frequency domain approach to the design of robust decentralized controllers (DC) for continuous-time systems described by a set of transfer function matrices. To ensure nominal stability and prespecified nominal performance, the recently developed DC design technique is applied (Kozáková and Veselý, 2003) being adapted so as to guarantee prespecified nominal performance and fulfillment of the M-D structure based robust stability conditions modified for the closed-loop system under the decentralized controller. Unlike the standard robust approach to the DC design, using this technique allows to include nominal interactions in the nominal model thus to relaxing the robust stability coditions.