Abstract
This paper presents a computer-aided procedure for designing multivariable controllers which simultaneously achieve a variety of desired design goals in stochastic, unity feedback, linear multivariable systems. The multivariable control system simultaneously ensures: 1) decoupling closed-loop design using linear estimation state variable feedback in combination with feedforward compensator, 2) complete and arbitrary closedloop pole placement which implies desired transient performance as well as closed-loop stability, 3) steady-state output rejection of nondecreasing deterministic part of stochastic disturbances with non-zero mean values, and 4) optimal steady-state estimation of plant's state vector using Kalman filter. In the design procedure the polynomial matrix approach in s-domain is used. The overall multivariable stochastic control problem is divided into two equivalent problems: stochastic state Kalman filtering and deterministic control of the state estimation and output feedback. The considerations are illustrated by a numerical example for simplified version of the ship possitionnig control system.
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