K. Liu et Re. Skelton, INTEGRATED MODELING AND CONTROLLER-DESIGN WITH APPLICATION TO FLEXIBLE STRUCTURE CONTROL, Automatica, 29(5), 1993, pp. 1291-1314
Citations number
33
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Applications & Cybernetics
It is well known that modeling and control problems are not independen
t. Hence, the final step in any practical control design is a 'try and
see' procedure. There will always be a need for on-line tuning by the
test engineer. The purpose of mathematical theories of modeling and c
ontrol is therefore not to replace the 'try and see' requirement of th
e engineer, but to help reduce the number of iterations the engineer m
ust use to find a suitable solution to the real physical problem (whic
h defies exact mathematical description). This paper presents an itera
tive method to integrate the two problems of modeling and control and
demonstrates the procedure in a physical application. Specifically, we
present a controller design scheme integrating a Q-Markov Covariance
equivalent realization (QMC) identification algorithm, a Modal Cost An
alysis (MCA) model reduction algorithm, and an Output Variance Constra
int (OVC) controller design algorithm. The identified model is used as
a truth model for subsequent (off-line) controller evaluation. In the
first step of the integrated procedure, this model is reduced for con
troller design. Closed-loop evaluation provides information to improve
the reduced model (this is the integration of the two model reduction
and control disciplines that is contributed by this paper). The proce
ss repeats iteratively for low order and high performance controller d
esign. This procedure is applied to NASA's ACES flexible structure at
the Marshall Space Flight Center. The experimental results demonstrate
the effectiveness of the procedure for large flexible structure contr
ol.