Decentralized Robust Control of a MIMO system using parametric & non-diagonal interaction uncertainty modeling

This work describes the design of robust decentralized controllers for a multivariable system by considering the parametric uncertainty due to parametric variation and interaction uncertainty due to non-diagonal elements of a plant. First the plant is considered for uncertainty modeling. Then three methodologies are used to design decentralized H_infin controllers and decentralized H_infin fixed order decentralized controllers. The performances of these methodologies are compared for a highly coupled three tank system. The close loop system is analyzed for uncertainty, H_infin norm reduction, Nominal Performance (NP), robust performance (RP), nominal stability (NS) and robust stability (RS). The system has achieved 100% RS and NS, and remarkable RP, NP, H_infin norm reduction and time domain performance.