Abstract:

For the finite-dimensional multiple input multiple output (MIMO) linear time-invariant system, a new method to tune gain/phase margins in the output channels is presented. By using the theory of continuous-time linear quadratic regulator (LQR) and the method of periodic control, a linear periodic controller which is easy to implement is designed. It is proved that the controller can simultaneously provide gain margins as large as desired and phase margins of up to 90° in the output channels of all feedback control loops and has a satisfactory inter-sample performance. Simulation results show the effectiveness of the proposed control law.