Optimal Control Design Advantages Utilizing Two-Degree-of-Freedom Controllers
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH
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The purpose of this study was to investigate and describe the differences between a one-degree-of-freedom I-DOF controller, in which a controller is placed in a single location in the control loop, and a two-degree- of-freedom 2-DOF controller, in which two separate controllers are designed -- one in the feedback loop and the other as a prefilter in the forward loop. The approach involved summarizing the major rules governing loop shaping for performance and robustness in the I-DOF case and then extending the concepts to the 2-DOF case. H2 optimization was utilized to perform several types of SISO examples and one MIMO example to verify the concepts. In all cases, the 2-DOF controller exhibited superior tracking performance over a wide range of plant disturbances and measurement noises compared to the 1-DOF model.
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