D. Vaes, J. Swevers, and P. Sas (Belgium)
MIMO-control, robust control, tracking applications
The multivariable tracking accuracy on an automotive vi bration test rig can be improved by extending the current industrial off-line iterative feedforward procedure with a real time feedback controller. This paper tests and vali dates three different MIMO-control schemes on an indus trial test rig. First decentralized (or diagonal) control is used, which is a combination of independently designed SISO-controllers based on the diagonal elements of the sys tem. Secondly full MIMO H-control, based on a MIMO model is tested. Finally inverse-based control is applied to the test rig, this is a combination of a pre-compensator deal ing with the interaction in the system and a decentralized controller, designed for the compensated system. The performance of these controllers is compared, and the best controller is combined with the off-line feed forward control, showing a significant reduction of the tracking error.
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