Optimal and robust feedback controller estimation for a vibrating plate

Abstract

This paper presents a method to estimate the H 2 optimal and a robust feedback controller by means of Subspace Model Identification using the internal model control (IMC) approach. Using IMC an equivalent feed forward control problem is obtained, which is solved by the Causal Wiener filter for the H 2 optimal controller. The robust variant, called the Cautious Wiener filter, optimizes the average performance w.r.t. probabilistic model errors. The identification of the Causal and Cautious Wiener filters are control-relevant. The method is illustrated by experiments on a 4-inputs 4-outputs vibrating plate with additional mass variation.