Abstract
In this paper, a modified local optimal control approach is proposed for multivariable systems. As for unknown plant dynamics, system identification must be performed to obtain a model based on which the local optimal controller is designed and implemented. The proposed method guarantee closed loop stability characteristic when dealing with non-minimum phase plant which is a considerable advantage over the original local optimal controller. In addition to computational efficiency and structure simplicity, experimental results on a lab-based test rig confirm the effectiveness and robustness of the proposed local optimal controller over a conventional genetically tuned PID.
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