DECENTRALIZED CONTROLLER DESIGN WITH GUARANTEED CLOSED-LOOP PERFORMANCE

Vojtech Veselý - Danica Rosinová - Alena Kozáková

   The paper presents an original frequency domain method to design a decentralized controller for MIMO systems. The design is carried out on the subsystem level for the so-called equivalent subsystems which are in fact mathematical models of isolated subsystems modified using characteristic functions (CF) of the plant interaction matrix. Local controllers designed for equivalent subsystems guarantee the fulfilment of performance requirements imposed on the global system without any performance deterioration brought about by the effect of interactions. Theoretical results are supported with results obtained by solving several examples, one of which is included.

Keywords: decentralized controller, frequency domain, generalized Nyquist stability criterion, characteristic functions/loci

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