PASSIVITY-BASED ANALYSIS OF THE DECENTRALIZED AND EXTENDED MINIMAL CONTROL SYNTHESIS ALGORITHMS

This paper presents new rigorous proofs of stability and robustness fo r the decentralized minimal control synthesis (DMCS) and extended mini mal control synthesis (EMCS) algorithms, using the concept of system p assivity. The stability result imposes no additional restrictions on t he decentralized algorithm compared with the centralized form of the a lgorithm (Hodgson and Stoten 1996). Thus, previous restrictions on the amplitude of cross-coupling terms between degrees-of-freedom of the c ontrolled plant are removed. The robustness results apply in the cases of plant parameter variations and external disturbances.