Abstract
We develop a data-driven real-time test for controllers' ability to meet given McFarlane-Glover loop-shape specifications. The proposed test provides a data-driven diagnosis for robustness of controllers by detecting controllers proven to fail to meet loop-shape specifications. The test has an important property that many controllers (not necessarily active ones) can be simultaneously tested in real-time using evolving real-time plant data collected while others are active. It is shown that controller-shaping in the present work plays a role that is dual to the role of plant-shaping in the model-based H∞ loop-shaping design procedure. A simulation example is provided.
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