| An independent design method for robust partially decentralized controller is developed.In the proposed design method,partially decentralized control system is first expanded to a nonsquare decentralized structure.Gramian based interaction measure help identify suitable partially decentralized control structures.The generalized inverse is used to design the internal model controllers by calculation in frequency domain.A special filter is designed for to guaranteeing the stability of system.The independent design procedure for robust partially decentralized controllers can then be applied directly to the expanded system.Simulation results shows that the method can achieve good performance and robustness,Based on IMC system,the response will be better if the model matches more satisfactorily. |
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