The current article presents a design procedure for obtaining robust multiple-input and multiple-output (MIMO) fractional-order controllers using a
-synthesis design procedure with
D–
K iteration.
-synthesis uses the generalized Robust Control framework in order to find a controller which meets
[...] Read more.
The current article presents a design procedure for obtaining robust multiple-input and multiple-output (MIMO) fractional-order controllers using a
-synthesis design procedure with
D–
K iteration.
-synthesis uses the generalized Robust Control framework in order to find a controller which meets the stability and performance criteria for a family of plants. Because this control problem is NP-hard, it is usually solved using an approximation, the most common being the
D–
K iteration algorithm, but, this approximation leads to high-order controllers, which are not practically feasible. If a desired structure is imposed to the controller, the corresponding
K step is a non-convex problem. The novelty of the paper consists in an artificial bee colony swarm optimization approach to compute the nearly optimal controller parameters. Further, a mixed-sensitivity
-synthesis control problem is solved with the proposed approach for a two-axis Computer Numerical Control (CNC) machine benchmark problem. The resulting controller using the described algorithm manages to ensure, with mathematical guarantee, both robust stability and robust performance, while the high-order controller obtained with the classical
-synthesis approach in MATLAB does not offer this.
Full article