论文标题
将控制器设计与闭环设计分开：系统级控制器合成的新观点
Separating Controller Design from Closed-Loop Design: A New Perspective on System-Level Controller Synthesis
论文作者
论文摘要
我们表明，鉴于对系统的所需闭环响应，有一个控制器的仿射子空间可以实现此响应。通过利用此子空间的存在，我们可以通过首先合成所需的闭环响应，然后合成实现所需响应的控制器，从而将控制器设计与闭环设计分开。这是对最近引入的系统级合成框架的有用扩展，其中控制器和闭环响应是共同合成的，并且我们无法在不将闭环映射对相同约束的情况下执行特定于控制器的约束。我们证明了将控制器设计与闭环设计分开的重要性，其中通信延迟和局部限制导致标准SLS是不可行的。使用我们的新两步过程，我们能够合成一个控制器，该控制器遵守约束，而与最佳LQR控制器相比，LQR成本只会增加3％。
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from closed-loop design by first synthesizing the desired closed-loop response and then synthesizing a controller that achieves the desired response. This is a useful extension to the recently introduced System Level Synthesis framework, in which the controller and closed-loop response are jointly synthesized and we cannot enforce controller-specific constraints without subjecting the closed-loop map to the same constraints. We demonstrate the importance of separating controller design from closed-loop design with an example in which communication delay and locality constraints cause standard SLS to be infeasible. Using our new two-step procedure, we are able to synthesize a controller that obeys the constraints while only incurring a 3% increase in LQR cost compared to the optimal LQR controller.
