This work discusses rejection of disturbances with known directions in multivariable control systems. It is shown how frequency domain tradeoffs in multivariable control motivate a design based on disturbance directions. A multivariable design method is presented to design centralized controllers that reject disturbances only in relevant directions. A model of an industrial motion system is used to demonstrate the theory. It is shown how the proposed design method resembles the solution of a competing Hinf design and offers the ability to interpret Hinf centralized control solutions, and understand the tradeoffs inherent in such a design.
|Title of host publication||Proceedings of the 17th IFAC World Congress (IFAC'08) July 11-16, 2008, Seoul, Korea|
|Place of Publication||Seoul|
|Publisher||International Federation of Automatic Control|
|Publication status||Published - 2008|