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content/inbook/steinbuch11_advan_motion_contr_desig.md
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@ -9,7 +9,7 @@ Tags
Reference Reference
: ([Steinbuch et al. 2011](#org16dd9d1)) : ([Steinbuch et al. 2011](#orgf3b81ed))
Author(s) Author(s)
: Steinbuch, M., Merry, R., Boerlage, M., Ronde, M., & Molengraft, M. : Steinbuch, M., Merry, R., Boerlage, M., Ronde, M., & Molengraft, M.
@ -34,7 +34,7 @@ If the requirements increase, the dynamic coupling between the various DOFs can
<div class="definition"> <div class="definition">
<div></div> <div></div>
Centralized control [Centralized control](decoupled_control.md)
: the transfer function matrix of the controller is allowed to have any structure : the transfer function matrix of the controller is allowed to have any structure
Decentralized control Decentralized control
@ -108,7 +108,7 @@ The strong non-intuitive aspect of MIMO loopshaping and the fact that SISO loops
For that reason, the step-by-step approach is proposed: For that reason, the step-by-step approach is proposed:
1. Interaction Analysis 1. [Interaction Analysis](interaction_analysis.md)
2. Decoupling Transformations 2. Decoupling Transformations
3. Independent SISO design 3. Independent SISO design
4. Sequential SISO design 4. Sequential SISO design
@ -122,7 +122,7 @@ For that reason, the step-by-step approach is proposed:
The goal of the interaction analysis is to identify two-sided interactions in the plant dynamics. The goal of the interaction analysis is to identify two-sided interactions in the plant dynamics.
Two measured for plant interactions can be used: Two measured for plant interactions can be used:
- Relative Gain Array (RGA) per frequency - [Relative Gain Array](relative_gain_array.md) (RGA) per frequency
<div class="definition"> <div class="definition">
<div></div> <div></div>
@ -136,7 +136,7 @@ Two measured for plant interactions can be used:
where \\(\times\\) denotes element wise multiplication. where \\(\times\\) denotes element wise multiplication.
</div> </div>
- Structure Singular Value (SSV) of interaction as multiplicative output uncertainty - [Structure Singular Value](structured_singular_value.md) (SSV) of interaction as multiplicative output uncertainty
<div class="definition"> <div class="definition">
<div></div> <div></div>
@ -233,4 +233,4 @@ Parametric models are usually build up step-by-step, first considering the unmod
## Bibliography {#bibliography} ## Bibliography {#bibliography}
<a id="org16dd9d1"></a>Steinbuch, Maarten, Roel Merry, Matthijs Boerlage, Michael Ronde, and Marinus Molengraft. 2011. “Advanced Motion Control Design.” In _Control System Applications_, 651–76. CRC Press. <a id="orgf3b81ed"></a>Steinbuch, Maarten, Roel Merry, Matthijs Boerlage, Michael Ronde, and Marinus Molengraft. 2011. “Advanced Motion Control Design.” In _Control System Applications_, 651–76. CRC Press.