Feedback properties of multivariable systems: The role and use of the return difference matrix

Safonov, Michael G.; Laub, Alan J.; Hartmann, G.

doi:10.1109/tac.1981.1102566

Cited by 432 publications

(87 citation statements)

References 25 publications

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“…is stable and that the same holds if K(q −1 , ρ) contains an integrator and Q has been constrained such that Q(1) = 1/G o (1). As a consequence, the squared sum…”

Section: Theoremmentioning

confidence: 91%

“…tracking and noise rejection, by means of H 2 -H ∞ optimization methods. The fact that any feedback controller design must reflect a compromise between insensitivity to different disturbances and good stability margins is first identified in [1], where the mixed-sensitivity criterion is introduced as a suitable quality measure of the closed-loop behaviour. Among all different approaches for the solution of such control-design problem, the Youla-Kučera parameterization [2] represents one of the most successful.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Data-Driven Approach to Mixed-Sensitivity Control With Application to an Active Suspension System

Formentin

Karimi

2013

IEEE Trans. Ind. Inf.

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Abstract-In this paper, a data-driven approach is proposed to tune fixed-order controllers for unknown stable LTI plants in a mixed-sensitivity loop-shaping framework. The method requires a single set of input-output samples and it is based on convex optimization techniques; moreover, it asymptotically guarantees the internal stability of the closed-loop system. The effectiveness of the method is illustrated with application to the control of an active suspension system.

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“…is stable and that the same holds if K(q −1 , ρ) contains an integrator and Q has been constrained such that Q(1) = 1/G o (1). As a consequence, the squared sum…”

Section: Theoremmentioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

A Data-Driven Approach to Mixed-Sensitivity Control With Application to an Active Suspension System

Formentin

Karimi

2013

IEEE Trans. Ind. Inf.

View full text Add to dashboard Cite

show abstract

“…settling time and noise rejection, by means of H 2 -H ∞ optimization methods. The fact that any feedback controller design must reflect a compromise between insensitivity to different disturbances and good stability margins is first identified in Safonov et al [1981], where the mixed-sensitivity criterion is introduced as a very suitable quality measure of the closedloop behaviour. Among all different approaches for the solution of such control-design problem, the Youla-Kučera parameterization (see Doyle et al [1992]) represents one of the most successful.…”

Section: Introductionmentioning

confidence: 99%

Direct data-driven H2 – H∞ loop-shaping

Formentin

Karimi

Savaresi

2011

IFAC Proceedings Volumes

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In this paper, a direct data-driven approach is proposed to tune fixed-order controllers for unknown stable LTI plants in a mixed-sensitivity loop-shaping problem. The method requires a single set of input-output samples and it is based on simple convex optimization techniques; moreover, it guarantees internal stability as the data-length tends to infinity. Compared to a standard model-based approach, the proposed methodology theoretically guarantees the same asymptotical performance in case of correct parameterization, whereas the direct data-driven formulation is less conservative in case of undermodeling. The effectiveness of the method is illustrated via some numerical examples.

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“…What is specified through a reference model is the desired closed-loop system response. Therefore, as the system response to a command is an open-loop property and robustness properties are associated with the feedback (Safonov et al, 1981), no stability margins are guaranteed when achieving the desired closed-loop response behaviour. A 2-DOF control configuration may be used in order to achieve a control system with both a performance specification, e.g., through a reference model, and some guaranteed stability margins.…”

Section: Introductionmentioning

confidence: 99%