Hierarchical Feedback Control of Large-Scale Discrete-Time Systems with Coupled States and Inputs

상태 및 입력이 결합된 대규모 이산시간 시스템의 계층적 궤환제어

Singh's multi-level method is extended to the optimal tracking control of a large interconnected dynamical system which has coupled states and coupled inputs. The steady-state tracking error and a convergence condition for the extended multi-level method are derived analytically and the results show that the steady-state tracking error and a convergence rate have to be compromised. Also, a new multi-level method which is advantageous over the Singh's method in steady-state tracking error and computational burden is proposed by introducing nominal inputs into the performance index. The resulting feedback gain matrix and the compensation vector are optimal for all initial conditions so that eventual on-line computation is minimal.