期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 68, 期 8, 页码 4618-4633出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2022.3209342
关键词
Data-driven control; identification for control; linear matrix inequalities (LMIs); linear systems; robust control
We propose a framework for robust controller design by systematically combining data of an unknown linear time-invariant system with prior knowledge on the system matrices or uncertainty. Our approach uses linear matrix inequality (LMI)-based feasibility criteria to guarantee stability and performance robustly for all closed-loop systems consistent with the prior knowledge and available data. The design procedures involve the combination of multipliers inferred via prior knowledge and learnt from measured data, with a novel disturbance description employed for the latter. Extensions to robust output-feedback design and against nonlinear uncertainties are also provided.
We present a framework for systematically combining data of an unknown linear time-invariant system with prior knowledge on the system matrices or on the uncertainty for robust controller design. Our approach leads to linear matrix inequality (LMI)-based feasibility criteria that guarantee stability and performance robustly for all closed-loop systems consistent with the prior knowledge and the available data. The design procedures rely on a combination of multipliers inferred via prior knowledge and learnt from measured data, where for the latter, a novel and unifying disturbance description is employed. While large parts of the article focus on linear systems and input-state measurements, we also provide extensions to robust output-feedback design based on noisy input-output data and against nonlinear uncertainties. We illustrate through numerical examples that our approach provides a flexible framework for simultaneously leveraging prior knowledge and data, thereby reducing conservatism and improving performance significantly if compared to black-box approaches to data-driven control.
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