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Experimental Methods to Study Human Postural Control

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Robust data driven control in frequency domain: A model-free approach.

Seyed-Masoud Tabibian¹, Mohammad Ataei¹, Hamid-Reza Koofigar¹

¹Department of Electrical Engineering, University of Isfahan, Isfahan, Iran.

ISA Transactions

|May 30, 2025

Summary

This study introduces a model-free frequency domain control design method. It optimizes controller structure using the υ-gap metric, enhancing performance for uncertain Multi-Input Multi-Output (MIMO) systems.

Keywords:

Convex optimization Data-Driven Control (DDC)Multi-Input Multi-Output systems Normalized coprime factors υ-gap Metric criterion

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Area of Science:

Control Engineering
Systems Theory

Background:

Traditional frequency domain control design necessitates predefined controller structures.
Optimization-based approaches offer flexibility but often require detailed system models.

Purpose of the Study:

To develop a model-free controller design method for uncertain Multi-Input Multi-Output (MIMO) systems.
To transform controller design into an optimization problem using the υ-gap metric criterion.
To enable the determination of a family of controllers and an optimal controller based on implementation conditions.

Main Methods:

A model-free procedure utilizing plant frequency response and desired stability margins.
Defining a criterion based on desired stability margin and controller frequency response.
Employing a new index for optimal controller selection under implementation constraints.
Utilizing weighting matrices in a loop shaping procedure for performance enhancement.

Main Results:

A family of controllers can be determined without a prior structure assumption.
The method is applicable to uncertain MIMO systems, including non-square and purely delayed systems.
Controller design is framed as an optimization problem solvable via the υ-gap metric.
Loop performance can be improved through appropriate selection of weighting matrices.

Conclusions:

The proposed method offers a flexible and model-free approach to frequency domain controller design.
It effectively addresses challenges in controlling uncertain MIMO systems.
The optimization-based framework allows for tailored controller selection based on performance and implementation needs.