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Journal of Applied Nonlinear Dynamics 1(3) (2012) 239--261 | DOI:10.5890/JAND.2012.07.003

Najah Yousfi$^{1}$, Pierre Melchior$^{2}$, Chokri Rekik$^{1}$, Nabil Derbel$^{1}$, Alain Oustaloup$^{2}$

$^{1}$ Research Unit on Intelligent Control, Design & Optimization of Complex Systems (ICOS) University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, Tunisia

$^{2}$ IMS (UMR 5218 CNRS, Université Bordeaux 1-ENSEIRB-ENSCPB), Département LAPS 351 cours de la Liberation, Bâ. A4 - F33405 TALENCE cedex, France

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Abstract

The objective of this work concerns the motion control and robust path tracking. A method based on fractional prefilter has been developed and extended to multivariable systems. It is based on the MIMO-QFT robust synthesis methodology. This method secifically deals with the appropriate transformation of the MIMO system to the equivalent SISO system. This paper presents a way to incorporate Quantitative Feedback Theory (QFT) principles to Hꝏ control design procedure to solve the Two-Degree-Of-Freedom (TDOF) with Highly Uncertain Plants. The SISO-QFT synthesis method can be used for each SISO loop. Then the controllers are synthesized using the Hꝏ design. After that, synthesis of prefilters is given with optimization of its parameters using integral error minimization. Finally a numerical example is considered to show performances of the proposed method.

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