Analysis and synthesis of nested feedback systems

The H/sub /spl infin//-loopshaping framework is extended to the design of nested (or cascaded) feedback systems consisting of an inner and an outer loop. Three robust stability margins are defined for such systems and an inequality relating them obtained for the case when the inner loop is implement...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2005-07, Vol.50 (7), p.984-996
Main Authors: Halsey, K.M., Glover, K.
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Applied sciences
Bandwidth
Cascade control
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
Design methodology
Exact sciences and technology
Feedback loop
Helicopters
Kelvin
Modelling and identification
Optimal control
Output feedback
Robust control
Robust stability
robustness
stability margins
Uncertainty
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Summary:The H/sub /spl infin//-loopshaping framework is extended to the design of nested (or cascaded) feedback systems consisting of an inner and an outer loop. Three robust stability margins are defined for such systems and an inequality relating them obtained for the case when the inner loop is implemented in observer form. This motivates the introduction of two synthesis algorithms which are compared with a sequential approach in the design of a cascade-limiter for the Quanser Helicopter experiment. By establishing an equivalence between normalized coprime factor uncertainty and a combination of output multiplicative and input inverse multiplicative uncertainty, it is possible to demonstrate in what sense the new compensators are superior to the one obtained by the sequential method.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2005.851431