QUANTITATIVE NON-DIAGONAL REGULATOR DESIGN FOR UNCERTAIN MULTIVARIABLE SYSTEMWITH HARD TIME-DOMAIN CONSTRAINTS

In this paper a non-diagonal regulator, based on the qft method, is synthesized for an uncertain mimo plant whose output and control signals are subjected to hard time-domain constraints. this procedure includes the design of a non-diagonal pre-controller based on a new simple approach, followed by the sequential design of a diagonal qft controller. we present a new formulation for the latter stage, which shows the role of off-diagonal elements in the design procedure. a numerical example is given to illustrate the effectiveness of the proposed method.