Transfer function data-based control techniques for MIMO systems

Controllers are designed using model-based controller synthesis, e.g., robust control, optimal control and the root-locus, or using data-based controller design methods. An advantage of a data-based controller design is that the controller is designed directly on accurate frequency response data (FRD), which can be obtained at low cost for mechatronic systems. Classical loop-shaping is an example of such a technique. On the other hand the data-based controller design methods are limited in applicable synthesis and analysis tools. Unlike data-based controller design techniques, model-based controller synthesis have these well developed controller synthesis and analysis tools. A disadvantage of these techniques is that it requires a model of the system, that is obtained by time consuming and inaccuraat modeling procedures. It would be advantageous to combine the best of both approach; to use the model-based controller synthesis in a data-based way. In previous research a method is developed to compute Transfer Function Data (TFD), the data-based version of a transfer function, from FRD for lightly damped single-input-single-output (SISO) systems, which has the advantage that model-based control synthesis can be implemented in a data-based way [2] [5]. In this internship project the method for computing TFD is extended to multi-input-multioutput (MIMO) systems and applications of TFD for MIMO system are studied, e.g., evaluation of the closed-loop pole locations and the computation of a root-locus for MIMO systems in a data-based way. Also the value of these applications are indicated with simulations on the FRD of an experimental setup.