Partially Decentralized Controller Design in Terms of Disturbance Rejection: From Square System to Non-square System

Abstract

In this paper, a systematic approach is proposed to design a partially decentralized controller considering disturbance rejection. In a first step, the Generalized Relative Disturbance Gain (GRDG) and Relative Disturbance Gain Array (RDGA) are utilized to determine the structure of the Internal Model Control (IMC) model as well as the partially decentralized controller. In a second step, the obtained partially decentralized control system is transformed into a corresponding non-square system. Furthermore, the pseudoinverse factor is adopted here to increase the degree of freedom of the partially decentralized controller while avoiding the complex calculation. Finally, the tuning of pseudo-inverse factor and filter constants are solved from the graphic method. A simulation example is carried out to demonstrate the effectiveness and superiority of the proposed method.