Brief On the strong stabilization and stable H∞-controller design problems for MIMO systems

Reduced-order stable controllers for two-link underactuated planar robots

We report on our experience with strong stabilization using HIFOO, a toolbox for H∞ fixed-order controller design. We applied HIFOO to 21 fixed-order stable H∞ controller design problems in the literature, comparing the results with those published for other methods. The results show that HIFOO often achieves good H∞ performance with low-order stable controllers, unlike other methods in the literature.

/pdf/h-strong-stabilization-via-hifoo-a-package-for-fixed-order-28z9b5ohk9.pdf

H ∞ strong stabilization via HIFOO, a package for fixed-order controller design

An architecture for implementation of multivariable controllers is presented in this paper. The architecture is based on the Youla-Jabr-Bongiorno-Kucera parameterization of all stabilizing controllers. By using this architecture for implementation of multivariable controllers, it is shown how it is possible to change from one multivariable controller to another multivariable controller online in a smooth way with guarantee for closed loop stability. This includes also the case where the controllers are unstable. Gain scheduled controllers can be implemented in this architecture. The general architecture for smooth online changes of multivariable controllers can also handle the start up and close down of multivariable systems. Furthermore, the start up of unstable multivariable controllers can also be handled in this architecture. Finally, implementation of (unstable) controllers as a stable Q parameter in a Q-parameterized controller can also be achieved.

/pdf/an-architecture-for-implementation-of-multivariable-104zlg6834.pdf

An architecture for implementation of multivariable controllers

The optimal LQG controller is known to stabilize the closed loop if certain mild conditions are satisfied. The controller itself, however, may be unstable. The paper presents a method of selecting the weighting and covariance matrices such that the optimal controller is internally asymptotically stable. The method is very easy to apply and for stable open-loop system involves the solution of a single Lyapunov equation. >

Stable LQG controllers

On the order of stable compensators

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On the order of stable compensators