Discrete-Time Reduced-Complexity Youla Parameterization for Dual-Input Single-Output Systems

Abstract

A controller design is presented for directly shaping the sensitivity function in the feedback control of dual-input single-output (DISO) systems. We provide special forms of discrete-time Youla-Kucera (YK) parameterization to obtain stabilizing controllers for DISO systems, and discuss concepts to achieve a reduced-complexity formulation. The proposed YK parameterization is based on an inverse of the loop transfer function, which gives benefits such as clearer design intuition and reduced complexity in construction. The algorithm is verified by simulations and experiments on hard disk drive systems, with application to wideband vibration and harmonic disturbance rejections. IndexTerms-Discrete-time Youla parameterization, dual-stage actuation, dual-stage hard disk drives (HDDs), loop shaping, multi-input single-output (MISO), precision control, vibration rejection.

Weighted L 2 gain performance controller parameterisation of linear switching plants with average dwell time

“…Glaria and Goodwin presented a simple parameterisation for the class of all stabilising controllers for linear minimum phase plants [29]. It was shown that this result was the dual of the well‐known Youla parameterisation [30, 31]. Morari and Zafiriou provided a parameterisation, based on which a systematic method was developed for optimal controller design [32].…”

Adaptive Feedforward Cancellation for Precise Repetitive Motion in Coarse-Fine Control System

“…In this paper, we propose an AFC design method tailored for achieving precise repetitive motion in DISO systems. The previous control scheme implements the AFC to entire control loop [13], [14], [15]. The parameters of AFC are designed to the open loop characteristics summing up the that of course actuator and fine actuator.…”

“…θ ai is designed based on the previous control scheme[13],48[14]. The block diagram is described as shown in Fig.7, where49 L lp = P lp C lp denotes the open loop of lower piezo actuator, 50 VOLUME 11, 2023…”