Sequential design of decentralized dynamic compensators using the optimal projection equations

Abstract

The optimal projection equations for quadratically optimal centralized fixed-order dynamic compensation are generalized to the case in which the dynamic compensator has, in addition, a fixed decentralized structure. Under a stabilizability assumption for the particular feedback configuration, the resulting optimality conditions explicitly characterize each subcontroller in terms of the plant and remaining subcontrollers. This characterization associates an oblique projection with each subcontroller and suggests an iterative sequential design algorithm. The results are applied to an interconnected flexible beam example.