×

Correlation-based tuning of a restricted-complexity controller for an active suspension system. (English) Zbl 1293.93692

Summary: A correlation-based controller tuning method is proposed for the “Design and optimisation of restricted-complexity controllers” benchmark problem. The approach originally proposed for model following is applied to solve the disturbance rejection problem. The idea is to tune the controller parameters such that the closed-loop output be uncorrelated with the measured disturbance. Since perfect decorrelation between the closed-loop output and the disturbance is not attainable with a restricted-complexity controller, the cross-correlation of these two signals is minimised. This is done iteratively using stochastic approximation. A frequency analysis of the controller-tuning criterion allows dealing with control specifications expressed in terms of constraints on the sensitivity functions. Application to the active suspension system of the Automatic Control Laboratory of Grenoble (LAG) provides a 2nd-order controller that meets the control specifications to a large extent.

MSC:

93E03 Stochastic systems in control theory (general)
93B51 Design techniques (robust design, computer-aided design, etc.)
93B11 System structure simplification
PDFBibTeX XMLCite
Full Text: DOI Link

References:

[1] Anderson, B. D.O.; Liu, Y., Controller reduction: concepts and approaches, IEEE Trans Autom Control, 34, 8, 802-812 (1989) · Zbl 0698.93034
[2] Boyd, S. P.; Balakrishnan, V.; Barrat, C. H.; Khraishi, N. M.; Li, X.; Meyer, D. G.; Norman, S. A., A new CAD method and associated architectures for linear controllers, IEEE Trans Autom Control, 33, 3, 268-283 (1988) · Zbl 0641.93027
[3] Cordons, B.; Bendotti, P.; Falinower, C. M.; Gevers, M., A comparison between model reduction and controller reduction: application to a PWR nuclear plant, IEEE-CDC, 4625-4630 (1999), ix
[4] Hjalmarsson, H.; Gevers, M.; Gunnarsson, S.; Lequin, O., Iterative feedback tuning: theory and application, IEEE Control Syst Magazine, 26-41 (1998)
[5] Kammer, L. C.; Bitmead, R. R.; Bartlett, P. L., Direct iterative tuning via spectral analysis, Automatica, 36, 9, 1301-1307 (2000) · Zbl 0976.93060
[6] Karimi, A.; Mišković, L.; Bonvin, D., Convergence analysis of an iterative correlation-based controller tuning method, (15th IFAC World Congress. 15th IFAC World Congress, Barcelona, Spain (July 2002)) · Zbl 1055.93030
[7] Karimi, A.; Mišković, L.; Bonvin, D., Iterative correlation-based controller tuning: frequency-domain analysis, (41st IEEE-CDC. 41st IEEE-CDC, Las Vegas USA (December 2002)) · Zbl 1055.93030
[8] Karimi, A.; Mišković, L.; Bonvin, D., Iterative correlation-based controller tuning: application to a magnetic suspension system, Control Eng Practice (2003), to appear · Zbl 1293.93692
[9] Landau, I. D.; Karimi, A.; Constantinescu, A., Direct controller order reduction by identification in closed loop, Automatica, 37, 11, 1689-1702 (2001) · Zbl 1013.93009
[10] Langer, J.; Landau, I. D., Combined pole placement/sensitivity function shaping method using convex optimization criteria, Automatica, 35, 1111-1120 (1999) · Zbl 0949.93512
[11] Ljung, L., System identification - theory for the user (1987), Prentice Hall: Prentice Hall NJ · Zbl 0615.93004
[12] Robbins, H.; Monro, S., A stochastic approximation method, Ann Math Stat, 22, 400-407 (1951) · Zbl 0054.05901
[13] Söderström, T.; Stoica, P., System identification (1989), Prentice-Hall: Prentice-Hall UK · Zbl 0714.93056
[14] Spall, J. C.; Cristion, J. A., Model-free control of nonlinear stochastic systems with discrete-time measurements, IEEE Trans Autom Control, 43, 9, 1198-1210 (1998) · Zbl 0957.93089
[15] Benchmark Specifications on “Design and optimization of restricted-complexity controllers”, available: http://iawww.epfl.ch/News/EJC_Benchmark/index.html; Benchmark Specifications on “Design and optimization of restricted-complexity controllers”, available: http://iawww.epfl.ch/News/EJC_Benchmark/index.html
[16] Trulsson, E.; Ljung, L., Adaptive control based on explicit criterion minimization, Automatica, 21, 4, 385-399 (1985) · Zbl 0568.93046
[17] Zhou, K.; Doyle, J. C., Essentials of robust control (1998), Prentice-Hall: Prentice-Hall New York
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.