This paper deals with the problem of designing, for a linear time-invariant multivariable plant, a feedback controller that minimizes the H∞ norm of a quadratic combination of the sensitivity and complementary sensitivity functions. With the parameterization of the controller and quadratic cost, a design procedure based on a gain equalization test for computing the optimal controller is described in detail. A design algorithm, which is implementable in computers, is presented. The pitch-axis controller design for a digitized version of the Grumman F-14 aircraft is given. The performance robustness under the external disturbances and large aircraft parameter variations are shown to demonstrate the effectiveness of this approach.
Bibliographical noteFunding Information:
Jiann-Shiou Yang received the B.S. degree in control engineering from National Chiao Tung University, Hsinchu, Taiwan, in 1976, and received the M.S. and Ph.D. degrees in electrical engineering from the University of Maryland, College Park, in 1983 and 1988, respectively. He was awarded an IBM fellowship from 1985 to 1986, and from 1986 to 1988 he was a fellow at the Institute for the System Research, University of Maryland, College Park. He is an Assistant Professor of Computer Engineering at the University of Minnesota, Duluth, where he teaches control systems, digital control system design, and robotics. His research interests include robust multivariable control, system theory, and computer-aided control system design. He is a Member of AIAA.