Model-Matching Controller Design With Input-Output Data—A Numerical Approach for Redundantly Actuated Systems

Abstract

A numerical technique for control system synthesis based on input-output data is presented. The method is applicable when the system is open-loop stable and redundantly actuated. The major merits of the method are as follows. First, the closed-loop system equation may be arbitrarily assigned. Second, explicit knowledge of an open-loop system model is not needed for controller synthesis. Third, the stability of the synthesized system may be verified during the synthesis process; hence, the workability of the controller is ensured.