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<p>In this paper, we design a decoupled optimal control system using disturbance observer and feedforward compensator for MIMO systems with time delay with interference and various disturbances, and propose a method to determine the optimal parameters using a firefly algorithm with mean condition partial attraction (mcFA). The influence analysis of interference by the Relative Gain Matrix (RGA) is carried out, the MIMO system is separated into individual SISO systems using a feedforward compensator, and the Disturbance Observer-Based Control (DOBC) system is designed for the separated SISO systems. Then, for each SISO system, we have obtained the open-loop transfer function of the whole closed-loop system including disturbance observer and formulated an optimization problem with the minimum Integral Time Absolute Error (ITAE) value as the optimization index, with the desired range of the maximum sensitivity function value to ensure the robust performance and control performance of the system as the constraint index. This optimization problem is solved using a firefly algorithm with mean condition partial attraction with good global convergence and relatively low computational cost, to determine the optimal parameters of the DOBC. The paper shows the effectiveness of the proposed method by applying it to a comparative simulation with various previous methods and to a practical verification of the water source disinfection process.</p>

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An approach of optimal parameter tuning of disturbance observer-based MIMO decoupled control system using firefly algorithm with mean condition partial attraction

  • 期刊论文

  • 发表日期：

    2026年7月10日

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  • Hi-Bom O,
  • Kwang-Won Ri,
  • Song-Mu Kim

摘要

In this paper, we design a decoupled optimal control system using disturbance observer and feedforward compensator for MIMO systems with time delay with interference and various disturbances, and propose a method to determine the optimal parameters using a firefly algorithm with mean condition partial attraction (mcFA). The influence analysis of interference by the Relative Gain Matrix (RGA) is carried out, the MIMO system is separated into individual SISO systems using a feedforward compensator, and the Disturbance Observer-Based Control (DOBC) system is designed for the separated SISO systems. Then, for each SISO system, we have obtained the open-loop transfer function of the whole closed-loop system including disturbance observer and formulated an optimization problem with the minimum Integral Time Absolute Error (ITAE) value as the optimization index, with the desired range of the maximum sensitivity function value to ensure the robust performance and control performance of the system as the constraint index. This optimization problem is solved using a firefly algorithm with mean condition partial attraction with good global convergence and relatively low computational cost, to determine the optimal parameters of the DOBC. The paper shows the effectiveness of the proposed method by applying it to a comparative simulation with various previous methods and to a practical verification of the water source disinfection process.