Abstract

This work discusses rejection of disturbances with known directions in multivariable motion systems. It is shown how frequency domain tradeoffs in multivariable control motivate a design based on disturbance directions. A multivariable design method is presented to design centralized controllers that reject disturbances only in relevant directions. A model of an industrial motion system is used to demonstrate the theory. It is shown how the proposed design method resembles the solution of a competing H∞ design and offers the ability to interpret H∞ centralized control solutions, and understand the tradeoffs inherent in such a design.