Robust design of a 2-DOF GMV controller: A direct self-tuning and fuzzy scheduling approach

This paper presents a study on self-tuning control strategies with generalized minimum variance control in a fixed two degree of freedom structure-or simply GMV2DOF-within two adaptive perspectives. One, from the process model point of view, using a recursive least squares estimator algorithm for direct self-tuning design, and another, using a Mamdani fuzzy GMV2DOF parameters scheduling technique based on analytical and physical interpretations from robustness analysis of the system. Both strategies are assessed by simulation and real plants experimentation environments composed of a damped pendulum and an under development wind tunnel from the Department of Automation and Systems of the Federal University of Santa Catarina.

► Robust analysis and design of fixed 2-DOF self-tuning GMV controller. ► We presented two self-tuning approaches: by RLS estimation and by Fuzzy Scheduling. ► The Fuzzy Scheduling method has shown less dependence on pre-design stage. ► Robustness and performance design criteria were specified in the frequency domain. ► In real-time experiments, an online time-based robustness index was used.