Work

Non-parametric IQC multipliers in data-driven robust controller synthesis

Year: 2025

Type: article

Abstract: The paper presents a robust data-driven controller synthesis method for generalised multi-input multi-output (MIMO) systems. Using the frequency response of a linear time-invariant (LTI) MIMO system and characterising perturbations through Integral Quadratic Constraint (IQC), the method provides a convex set of controllers robust to perturbations. This facilitates the design of controllers with either robust stability or robust performance criteria. Notably, the proposed method is versatile, as it is also applicable for non-parametric IQC multipliers. An example of a non-parametric IQC multiplier for elliptical uncertainty quantification is demonstrated and subsequently employed in designing a robust controller for a hybrid active-passive micro-vibration platform. Experimental results show that the synthesised controller effectively achieves the desired levels of both robustness and performance.

Source: Automatica

DOI: 10.1016/j.automatica.2025.112608

Authors: Vaibhav Gupta, Elias Klauser, Alireza Karimi

Institutions: École Polytechnique Fédérale de Lausanne, Swiss Center for Electronics and Microtechnology (Switzerland)

Language: English

Topic: Stability and Control of Uncertain Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: hybrid

Estimated APC paid: $3,760