Abstract:

For a finite set of multiple-input multiple-output (MIMO) linear time-invariant (LTI) plants, a new method to tune gain/phase margins in the input channels is presented. By using the theory of continuous-time linear quadratic regulator (LQR), a state feedback controller is designed for a plant at first, and then a method of periodic control is used to design a linear periodic controller for a finite set of plants. The controller can simultaneously provide gain margins as large as desired and phase margins of up to 90 degrees in the input channels of all feedback control loops for a finite set of plants. Simulation results show the effectiveness of the proposed control law.