This work discusses rejection of disturbances with known directions in multivariable motion systems. It is shown how frequency domain tradeoffs in multivariable control motivate a design where the directions of disturbance are considered explicitly. A design method is presented to design multivariable centralized controllers to reject disturbances only in relevant directions. A model of an industrial motion system is used to demonstrate this method. It is shown how the proposed design method resembles the solution of a competing H8 design and offers the ability to interpret H8 centralized control solutions understanding the inherent tradeoffs of multivariable feedback control. Crown Copyright © 2009.
|Publication status||Published - 2010|