Automatic closed-loop identification and robust control synthesis

Abstract

For open-loop unstable systems, a stabilizing controller is usually in the loop in order to collect input/output data to perform system identification. The model identified from the I/O data is thus the combination of the open-loop plant and the controller. In this paper, a novel approach is presented to perform closed-loop identification and robust control synthesis. The major key is to first design a robust controller for the closed-loop system with the stabilizing controller in the loop, then implement the combination of the designed robust controller and the stabilizing controller for the open-loop system. The advantage of this approach is that the implementation can actually be realized by updating the existing stabilizing controller. This makes it much easier to formulate and implement, and gives great flexibility for the closed-loop robust controller implementation.