Design of distributed controllers for component swapping modularity using linear matrix inequalities

The problem of component swapping modularity (CSM) refers to distributed control design in networks of smart components such that specific design constraints are satisfied. The CSM intends to reduce control design effort and complexity in platform-based systems. Existing CSM methods achieve promising results for low order multi-input-multi-output (MIMO) systems. However, lack of generalization, heavy computational burden, and, to a lower extent, the level of designer involvement limit the applications of the existing CSM methods. Thus, this paper presents a generalized CSM algorithm using linear matrix inequalities (LMIs) such that almost full automatic control distribution is achieved for an arbitrary linear system. The LMI-based CSM is designed to maintain both disturbance attenuation and quadratic stability. Also, it is desired to satisfy specific time response criteria. Thus, the proposed algorithm combines H
₂
optimization and robust H
_∞
optimization to satisfy given design constraints. The designer involvement is dramatically reduced to iterative tuning of two scalar parameters in the robust H
_∞
problem. The proposed algorithm incorporates reference tracking. Also, stability measures and design criteria are checked numerically at each step. The LMI-based CSM algorithm has been numerically verified using an engine idle speed control (ISC) example.