Reduced-Order Controller Design via Iterative Identification and Control

Abstract

In this paper, a customized version of iterative identification and control algorithms is presented, oriented to the design of reduced-order controllers with increasing performance (in terms of bandwidth for reference tracking). Although a particular set of identification and control design methodologies is chosen due to its simplicity and wide availability, some of the ideas can be applied to alternative methods. The procedure is based on estimating reduced-order models on narrow control-oriented frequency bands when the closed loop performs badly, and interpolating those models and previous ones allowing larger errors at frequencies unimportant for control purposes, so that reduced-order models can still be used. The allowable error for the interpolated model will be determined by commonly used small-gain inequalities.