A Novel Robust Feedback Controller Design Methodology for Exploiting Directional Preferences

所提出的工作的主要目标是开发一种新的反馈设计方法，利用方向偏好，可能在多输入多输出系统。在过去的六十年里，在反馈控制系统的设计方面积累了大量的知识。尽管已经发生了许多发展，经典控制仍然占据了反馈控制设计的核心作用。拟议的工作将利用经典设计提供的真正优势。SISO和MIMO设计之间的一个根本区别在于，在MIMO问题中存在方向性影响，而在SISO问题中没有这种影响。对现有的设计方法进行更深入的研究，例如 和QFT，很明显，没有利用具有方向特性的可用灵活性。事实上，所有这些方法本质上都在所有可能的方向上强制执行性能。其原因是设计或合成集中在闭环系统传递函数上。例如，即使当已知输出干扰在特定方向上时，灵敏度传递函数矩阵在所有可能的方向上都变小，尽管这不是必要的。提出了一种新的MIMO系统方向反馈控制方法。 这项研究将提供新的工具，使许多先进的控制问题，可能无法解决现有的方法的解决方案。例如，随着新的控制效应器和传感器的出现，可以预期，非常高性能的系统将具有高度冗余的致动器和传感器，这将使得能够结合许多迄今未考虑的性能要求。高性能飞机将可能包括高度冗余的控制作动器，可能没有垂尾，可能能够以大姿态速率进行非常高的g机动，并且将在具有高度非线性空气动力学的扩展飞行包线上运行。可重构控制将变得越来越重要。 可以预见，可重构控制将允许设计和实现的系统，将执行自动，在线优化系统性能的损坏或系统故障的情况下。提出的目标的成功解决方案将产生直接的影响，故障诊断和故障隔离的机械和结构，冗余管理和可重构控制系统的设计提供了一套新的设计工具。对复杂昂贵的设备（如自动化制造系统、机器人和传动系统）进行基于状态的监控可以提高安全性和可靠性，并降低惊人的O M成本。目前，美国工业每年因维护不善而造成的损失估计为500亿美元。

The main objective of the proposed work is to develop a new feedback design methodology that takes advantage of directional preferences that are possible in multi-input multi-output systems. Over the last six decades a considerable body of knowledge has accumulated in the design of feedback control systems. In spite of the many developments that have occurred, classical control still occupies a central role in feedback control design. Proposed work will exploit the true advantages offered by classical design. One fundamental difference between SISO and MIMO designs is that there are directional influences in the MIMO problem whereas there is no such influence in the SISO problem. On closer examination of existing design methodologies such as and QFT it is clear that available flexibility with directional properties are not taken advantage of. As a matter of fact all these methodologies essentially enforce performance in all possible directions. The reason for this is that design or synthesis is focussed on a closed loop system transfer function. For example, even when an output disturbance is known to be in a specific direction the sensitivity transfer function matrix is made small in all possible directions although it is not necessary. We propose a new paradigm of directional feedback control of MIMO systems. This research would provide new tools to enable the solution of numerous advanced control problems that may not be solvable with existing methods. For example, with the advent of new control effectors and sensors it is anticipated that very high performance systems will possess highly redundant actuators and sensors that will enable the incorporation of many hitherto not considered performance requirements. High performance aircraft will likely incorporate highly redundant control actuators, may not have vertical tails, may be capable of very high g-maneuvers with large attitude rates and will operate over extended flight envelopes with highly nonlinear aerodynamics. Reconfigurable control will become ever so important. It can be envisioned that reconfigurable controls will allow design and implementation of systems that will perform automatic, on-line optimization of system performance in the event of damage or system failures. The successful resolution of proposed objectives will have an immediate effect on fault diagnosis and fault isolation in machinery and structures, redundancy management and reconfigurable control system design by making available a new set of design tools. Condition based monitoring of complex expensive equipment such as automated manufacturing systems, turbomachinery, and drive trains can improve safety and reliability as well as reduce the staggering O&M costs. The annual cost of poor maintenance to US industries is currently estimated at $50 billion.