Robust Design of an Anticipative Feedforward-feedback Controller for MIMO Systems

In this paper, multi-input multi-output preview systems, for which future values of the reference and disturbance signals are known a number of time-steps ahead, are considered. The paper focuses on designing control algorithms that improve the performance of the closed-loop system taking into account the preview information. A robust anticipative controller described through an L-infinity/L-2 optimisation problem is proposed. Its design focuses on the minimization of the tracking error in the presence of disturbances while at the same time limiting the control input amplitude. The proposed solution combines a robust feedback controller with a preview feedforward filter. The feedback controller's purpose is to ensure the robustness of the closed-loop system to model uncertainties. The proposed solution is assessed by using the model of a MIMO system with uncertain parameters.