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<p>Quantitative feedback theory (QFT) is a frequency domain robust controller synthesis methodology that characterizes a two degree-of-freedom controller architecture. One of the critical steps in QFT synthesis is the loop-shaping, and traditional methods are manual and does not guarantee the optimality of the solution. The loop shaping procedure becomes complicated for multi-input multi-output (MIMO) systems, where it follows a sequential design process and problem becomes even more complex for systems with time delays. The proposed work presents the development of a new automatic loop shaping procedure for the concurrent synthesis of multi-loop QFT controllers and pre-filters. The presented approach offers a template and bounds free procedure for the simultaneous synthesis of optimal multi-loop QFT controllers. The robustness of the proposed controller is evaluated for parametric uncertainties, additive stochastic disturbances and has been experimentally validated for a multivariable liquid level system; and has been validated using the Kruskal–Wallis test. The obtained results highlight that; the proposed procedure eases out the loop-shaping procedure and the proposed multi-loop QFT controller delivers adequate control performance in real-time even in the face of additive stochastic uncertainties.</p>

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Simultaneous synthesis and real-time validation of QFT controllers for MIMO system with time delay

  • 期刊论文

  • 发表日期：

    2025年8月29日

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  • Nitish Katal,
  • Soumya Ranjan Mahapatro

摘要

Quantitative feedback theory (QFT) is a frequency domain robust controller synthesis methodology that characterizes a two degree-of-freedom controller architecture. One of the critical steps in QFT synthesis is the loop-shaping, and traditional methods are manual and does not guarantee the optimality of the solution. The loop shaping procedure becomes complicated for multi-input multi-output (MIMO) systems, where it follows a sequential design process and problem becomes even more complex for systems with time delays. The proposed work presents the development of a new automatic loop shaping procedure for the concurrent synthesis of multi-loop QFT controllers and pre-filters. The presented approach offers a template and bounds free procedure for the simultaneous synthesis of optimal multi-loop QFT controllers. The robustness of the proposed controller is evaluated for parametric uncertainties, additive stochastic disturbances and has been experimentally validated for a multivariable liquid level system; and has been validated using the Kruskal–Wallis test. The obtained results highlight that; the proposed procedure eases out the loop-shaping procedure and the proposed multi-loop QFT controller delivers adequate control performance in real-time even in the face of additive stochastic uncertainties.