Abstract
This paper proposes the data-driven controller tuning method to shape the sensitivity function matrix based on the H 2 model matching problem for MIMO systems. This method provides a multivariable controller without the plant model by using only input/output data. Unlike the SISO case, there are two sensitivity function matrices, input and output sensitivity function matrices, in the case of MIMO systems. For ill-conditioned plants, the sensitivity shaping should be carefully performed because the input or the output sensitivity function matrix might be deteriorated even if the other sensitivity function matrix is well shaped. Therefore, we propose the sensitivity shaping method for both sensitivity function matrices by using multiple objective optimization. The proposed method is numerically verified via simulations.
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