Wiener-Hopf design of servo-regulator-type multivariable control systems including feedforward compensation

Abstract

Frequency-domain design in a quadratic cost setting is treated for a multivariable control system which includes disturbance feedforward, output feedback, and reference-input compensation (i.e. a three-degrees-of-freedom control system). The cost function is taken to account for tracking accuracy, plant saturation and plant sensitivity. The class of all controllers is determined for which the given system is internally asymptotically stable and the quadratic cost function is finite. This controller class is parametrized in terms of arbitrary real rational matrices Z_z Z_u and Z_w which are strictly proper and analytic in Re s ≥ 0. The optimal solution is obtained by setting the Z matrices to zero.