Local LQG/LTR controller design for decentralized systems

The LQG/LTR design methodology for decentralized control systems is considered. Upper bounds on the norm of the multiplicative error matrix, that accounts for the interactions between the subsystems, are calculated. A total error function, which may represent the error between the design model and the true system, is defined. A decentralized design methodology, which uses only local models, is presented. It is shown that the stability-robustness requirement and the performance criteria can be checked locally. A design example is presented to illustrate the developed design methodology.