The current article presents a design procedure for obtaining robust multiple-input and multiple-output (MIMO) fractional-order controllers using a μ-synthesis design procedure with D–K iteration. μ-synthesis uses the generalized Robust Control framework in order to find a controller which meets the stability and performance criteria for a family of plants. Because this control problem is NP-hard, it is usually solved using an approximation, the most common being the D–K iteration algorithm, but, this approximation leads to high-order controllers, which are not practically feasible. If a desired structure is imposed to the controller, the corresponding K step is a non-convex problem. The novelty of the paper consists in an artificial bee colony swarm optimization approach to compute the nearly optimal controller parameters. Further, a mixed-sensitivity μ-synthesis control problem is solved with the proposed approach for a two-axis Computer Numerical Control (CNC) machine benchmark problem. The resulting controller using the described algorithm manages to ensure, with mathematical guarantee, both robust stability and robust performance, while the high-order controller obtained with the classical μ-synthesis approach in MATLAB does not offer this.
The current article presents the design, implementation, validation, and use of a Computer-Aided Control System Design (CACSD) toolbox for nonlinear and hybrid system uncertainty modeling, simulation, and control using μ synthesis. Remarkable features include generalization of classical system interconnection operations to nonlinear and hybrid systems, automatic computation of equilibrium points for nonlinear systems, and optimization of least conservative uncertainty bounds, with direct applicability for μ synthesis. A unified approach is presented for the step-down (buck), step-up (boost), and single-ended primary-inductor (SEPIC) converters to showcase the use and flexibility of the toolbox. Robust controllers were computed by minimization of the H∞ norm of the augmented performance systems, encompassing a wide range of uncertainty types, and have been designed using the well-known mixed-sensitivity closed loop shaping μ synthesis method.
The current journal paper proposes an end-to-end analysis for the numerical implementation of a two-degrees-of-freedom (2DOF) control structure, starting from the sampling rate selection mechanism via a quasi-optimal manner, along with the estimation of the worst-case execution time (WCET) for the specified controller. For the sampling rate selection, the classical Shannon–Nyquist sampling theorem is replaced by an optimization problem that encompasses the trade-off between the fidelity of the controllers’ representation, along with the fidelity of the resulting closed-loop systems, and the implementation difficulty of the controllers. Additionally, the WCET analysis can be seen as a verification step before automatic code generation, a computational model being provided. The proposed computational model encompasses infinite-impulse response (IIR) and finite-impulse response (FIR) filter models for the controller implementation, along with additional relevant phenomena being discussed, such as saturation, signal scaling and anti-windup techniques. All proposed results will be illustrated on a DC motor benchmark control problem.
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