Abstract
The method presented here offers an effective and time saving tool for robust low order multivariable controller design. The relation between controller complexity and closed loop performance can easily be evaluated. The method consists of five steps: 1. A desired behavior of the closed loop system is specified. Considering the nonminimum phase part of the process model the closed loop attainable performance is determined. 2. The process model and the attainable performance are scaled by the RPN-scaling procedure. 3. This defines an “ideal” scaled controller, which is usually too complex to be realized. 4. The frequency response of the ideal scaled compensator is approximated by a simpler one with structure and order chosen by the user. 5. Since the approximation in frequency response is performed with the scaled system, it is necessary to return to the original system's units. This procedure can be implemented using a multi-model approach, what increase the robustness of synthesized controller.
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