Two-Degree-of-Freedom Controller Design for an Ill-Conditioned Process Using H₂ Decoupling Control

Abstract

In this paper, a two-degree-of-freedom (TDOF) controller is designed for an ill-conditioned process based on the H₂ decoupling control method. The ill-conditioned process considered stems from the benchmark problem formulated in the IEEE Conference on Decision and Control (CDC). The goal of this paper is to show that lower order controllers can be reached with respect to the given plant and the corresponding design specifications. The orders of the designed TDOF controllers are 2 and 1, respectively, which is much lower than the previously developed methods. The additional benefit is that the new design procedure is simpler than the developed methods as well. In the proposed design procedure, no weight function needs to be chosen and the controller is given in an analytical form. Simulation shows that the designed controllers satisfy all design specifications of the CDC problem