Optimal Design of Residual-Driven Dynamic Compensator Using Iterative Algorithms With Guaranteed Convergence

A stabilizing regulator designed by any technique whatsoever can be viewed as the combination of a state estimate feedback controller and additional feedback from a dynamic compensator driven by the residual signal (difference between actual and estimated system outputs). Motivated by such an observation, this paper presents the controller design from the premise that system stability is first guaranteed. Control performance can then be enhanced by the optimal design of a residual-driven dynamic compensator subject to some quadratic performance index. The resulting compensator design methods are carried out using both offline and online iterative algorithms with guaranteed convergence. Moreover, the final iterative realization strategy can be implemented online with observed state variables and input updates in case of unknown system dynamics or parameter changes. Simulation results are presented to illustrate design procedures as well as the feasibility of our proposed scheme.