Frequency domain-embedded, state space method and system for decentralized control of coupled plants

A method for determining controller tuning parameters for a system of decoupled plant controllers, comprising, for each decoupled plant controller:

• receiving, by a first input of an adder, Ai, in series with a plant controller, CTi, for i=1, 2, . . . , N, a set point signal, SPi, wherein the set point signal has a frequency, ωi;
• receiving, by a second input of the adder, a negative feedback signal of a plant output, POi;
• adding, by the adder, Ai, the set point signal, SPi, to the negative feedback signal and generating an error signal, Ei;
• receiving, at an interface of each controller, CTi, a set of L tuning parameters;
• receiving, at the interface of each controller, CTi, a frequency domain assessment function, Q(ω, Λ);
• performing, by a controller circuitry located in each controller, CTi, the controller circuitry including a non-transitory computer readable medium, CRMi, including program instructions, PIi, and one or more processors, PRi, configured to use the program instructions, the steps of:
• modifying the error signal, Ei, based on the tuning parameter space vector, Λ;
• generating drive signals;
• transmitting the drive signals to a plant, Bi, connected in series with the controller, CTi;
• actuating, with the drive signals, a motor, Gi, located within the plant, Bi;
• operating, by the motor, Gi, a load, Di;
• and
• generating the plant output, POi;
• sampling, by an adder, As, connected to the system of decoupled plant controllers, the set point signals, SPi, from each plant, for each i=1 to N, and the plant outputs, POi;
• performing, by a compensator connected to the adder, As, a Fourier transform of the set point signals, SPi, which transforms the set point signals, SPi, to a frequency domain;
• receiving, by a compensator interface of the compensator, a frequency domain assessment function, Q(ω, Λ), where Q(ω, Λ) is a subset of an admissible region, Ψ, in the frequency domain;
• generating, by the compensator, a tuning parameter space vector, Λ, given by Λ=[1 2 . . . L]T, where i represents an ith tuning parameter and T represents a transpose, based on the frequency domain assessment function, Q(ω, Λ), where Q(ω, Λ);
• obtaining the L tuning parameters from the tuning parameter space vector, Λ;
• and
• transmitting, by a transmitter connected to the compensator, the frequency domain assessment function, Q(ω, Λ) and the L tuning parameters to each controller interface of each controller, CTi, of the system of decoupled plant controllers.

A non-transitory computer readable medium having instructions stored therein that, when executed by one or more processors of a compensator, cause the one or more processors to perform a method of determining controller tuning parameters for a system of decoupled plant controllers each connected to a plant, comprising:

• sampling, by an adder, As, connected to the system of decoupled plant controllers, a set point signals, SPi, from each plant and a set of plant outputs, POi, for each i=1 to N;
• performing a Fourier transform of the set point signals, SPi, which transforms the set point signals, SPi, to a frequency domain;
• receiving, at a compensator interface, a frequency domain assessment function, Q(ω, Λ), where Q(ω, Λ) is a subset of an admissible region, Ψ, in the frequency domain;
• generating a tuning parameter space vector, Λ, given by Λ=[1 2 . . . L]T, where i represents an ith tuning parameter and T represents a transpose, based on the frequency domain assessment function, Q(ω, Λ), where Q(ω, Λ);
• obtaining the L tuning parameters from the tuning parameter space vector, Λ,
• transmitting, by a transmitter connected to the compensator, the frequency domain assessment function, Q(ω, Λ) and the L tuning parameters to each controller of the system of decoupled plant controllers;
• and
• wherein each controller of the system of decoupled plant controllers is configured for:
• receiving the frequency domain assessment function, Q(ω, Λ) and the L tuning parameters;
• modifying a feedback error signal based on the tuning parameter space vector, Λ;
• generating drive signals based on the frequency domain assessment function, Q(ω, Λ) and the L tuning parameters for
• transmitting the drive signals to a plant connected in series with the controller;
• actuating, with the drive signals, a motor located within the plant;
• operating, by the motor, a load;
• and
• generating the plant output, POi.