Towards a Multivariable Auto-Tuner
| Authors: | Zhu Yucai, Eindhoven University of Technology, Netherlands
Serrano Esther T., Eindhoven University of Technology, Netherlands
Weiland Siep, Eindhoven University of Technology, Netherlands |
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| Topic: | 1.1 Modelling, Identification & Signal Processing |
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| Session: | Interplay between Identification and Control |
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| Keywords: | Multivariable systems, identification, error bound, robust control, servo systems. |
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Abstract
In this work an MIMO auto-tuning method is develop that can be used by a layman of control. The method is based on MIMO identification and robust control design. The identification part delivers MIMO process models and model error bounds. The controller design block performs control synthesis, simulation and robust analysis. All steps can be done automatically. The parameters the user needs to enter are system constraints in identification test and closed-loop response time of each output, which are easy to understand and to obtain for the user. The developed scheme is applied to a high-precision wafer stage motion control using simulations. The step tracking performance is optimized using the method and it is compared with a multi-loop PID controller; the easiness of use of the MIMO auto-tuner will be highlighted.
