Abstract
This paper describes a control design method for uncertain MIMO systems which utilizes a hybrid scheme combining a genetic algorithm and sequential quadratic programming. The structured singular value is used to formulate a robust performance objective function, whose unity value becomes the constraint in the overall problem of maximizing the achievable closed loop bandwidth. For a MIMO problem, this leads to the definition of the limiting trade-off between performances of the output channels. A representative MIMO control problem is used to test the algorithm. The performances of full-block IMC controllers designed with the algorithm are compared with that of an optimally tuned decentralized PID scheme.
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