Non-parametric IQC multipliers in data-driven robust controller synthesis

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-09-23 DOI:10.1016/j.automatica.2025.112608

Vaibhav Gupta , Elias Klauser , Alireza Karimi

引用次数: 0

Abstract

The paper presents a robust data-driven controller synthesis method for generalised multi-input multi-output (MIMO) systems. Using the frequency response of a linear time-invariant (LTI) MIMO system and characterising perturbations through Integral Quadratic Constraint (IQC), the method provides a convex set of controllers robust to perturbations. This facilitates the design of controllers with either robust stability or robust performance criteria. Notably, the proposed method is versatile, as it is also applicable for non-parametric IQC multipliers. An example of a non-parametric IQC multiplier for elliptical uncertainty quantification is demonstrated and subsequently employed in designing a robust controller for a hybrid active-passive micro-vibration platform. Experimental results show that the synthesised controller effectively achieves the desired levels of both robustness and performance.

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数据驱动鲁棒控制器合成中的非参数IQC乘法器

针对广义多输入多输出（MIMO）系统，提出了一种鲁棒数据驱动控制器综合方法。利用线性时不变（LTI） MIMO系统的频率响应，并通过积分二次约束（IQC）表征扰动，该方法提供了一组对扰动具有鲁棒性的凸控制器。这有助于设计具有鲁棒稳定性或鲁棒性能标准的控制器。值得注意的是，所提出的方法是通用的，因为它也适用于非参数IQC乘法器。给出了椭圆不确定度量化的非参数IQC乘法器实例，并将其应用于主-被动混合微振动平台鲁棒控制器的设计。实验结果表明，所合成的控制器在鲁棒性和性能上都达到了预期的水平。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.