Abstract
The multivariable tracking accuracy on an automotive vibration test rig can be improved by extending the current industrial off-line iterative feedforward procedure with a real-time multiple-input-multiple-output (MIMO) feedback controller. This paper shows that for the considered 4 × 4 application, the two most common approaches, namely full MIMO identification and μ -synthesis on one hand and decentralised control on the other hand fail to design a robust MIMO controller with acceptable performance. Therefore, a control design based on static decoupling is applied. This is a combination of (1) a transformation of the inputs and the outputs to decouple the system, and (2) independent single-input-single-output (SISO) controllers designed for the diagonal elements of the transformed system, using standard SISO identification and H ∞ -techniques. To optimise the closed-loop performance, a new decoupling algorithm is developed. The new presented algorithm outperforms the existing decoupling algorithms, yielding satisfactory multivariable closed-loop performance.
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