Update Content - 2021-09-03
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@ -9,7 +9,7 @@ Tags
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Reference
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: ([Steinbuch et al. 2011](#org16dd9d1))
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: ([Steinbuch et al. 2011](#orgf3b81ed))
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Author(s)
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: Steinbuch, M., Merry, R., Boerlage, M., Ronde, M., & Molengraft, M.
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@ -34,7 +34,7 @@ If the requirements increase, the dynamic coupling between the various DOFs can
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<div class="definition">
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<div></div>
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Centralized control
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[Centralized control](decoupled_control.md)
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: the transfer function matrix of the controller is allowed to have any structure
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Decentralized control
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@ -108,7 +108,7 @@ The strong non-intuitive aspect of MIMO loopshaping and the fact that SISO loops
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For that reason, the step-by-step approach is proposed:
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1. Interaction Analysis
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1. [Interaction Analysis](interaction_analysis.md)
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2. Decoupling Transformations
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3. Independent SISO design
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4. Sequential SISO design
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@ -122,7 +122,7 @@ For that reason, the step-by-step approach is proposed:
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The goal of the interaction analysis is to identify two-sided interactions in the plant dynamics.
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Two measured for plant interactions can be used:
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- Relative Gain Array (RGA) per frequency
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- [Relative Gain Array](relative_gain_array.md) (RGA) per frequency
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<div class="definition">
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<div></div>
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@ -136,7 +136,7 @@ Two measured for plant interactions can be used:
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where \\(\times\\) denotes element wise multiplication.
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</div>
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- Structure Singular Value (SSV) of interaction as multiplicative output uncertainty
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- [Structure Singular Value](structured_singular_value.md) (SSV) of interaction as multiplicative output uncertainty
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<div class="definition">
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<div></div>
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@ -233,4 +233,4 @@ Parametric models are usually build up step-by-step, first considering the unmod
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## Bibliography {#bibliography}
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<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.
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<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.
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