A combined iterative scheme for identification and control redesigns

SUMMARY This work proposes a unified algorithm for identification and control. Frequency domain data of the plant is weighted to satisfy the given performance specifications. A model is then identified from this weighted frequency domain data and a controller is synthesised using the H1 loopshaping design procedure. The cost function used in the identification stage essentially minimizes a tight upper bound on the difference between the achieved and the designed performance in the sense of the H1 loopshaping design paradigm. Given a model, a method is also suggested to re-adjust model and weighting transfer functions to reduce further the worst case chordal distance between the weighted true plant and the model. Copyright # 2004 John Wiley & Sons, Ltd.

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