طراحي كنترل كننده سيستمهاي داراي نامعيني به روش مبتني بر داده

In this thesis, a new method is presented that with the help of frequency responses of a multivariate an‎d perturbed plant, it is possible to design a robust controller without the need for the planr model an‎d controller structure. So, this method is a Robust Data Driven Controller deesign in frequency domain, which is done in two stages without considering the structure an‎d order of the controller. First, with the help of frequency responses, the frequency response of the perturbed model of plant is calculated based on the normalized coprime factors an‎d using the  -Gap metric criterion at each frequency, the difference between the changes of the perturbed plant an‎d the calculated nominal transfer function is calculated. Then, an‎d in the next stage, using the calculated frequency responces of coprime factors of perturbed plant, the frequency response of robust controller is calculated. In this two stages, two parameters are also calculated which in the first stage, the calculated parameter is the difference between the calculated nominal model an‎d the set of frecuency responses of the plant. The second stage’s parameter is the stability margin of the system with the calculated robust controller. With these paramaters an‎d frequency response of robust controller, a family of controllers with a desirable stability margins can be synthesized. This new method can be applied for any linear, time invariant MIMO systems. The proposed algorithms in each stages are Semi-Definite Programming with Linear Matrix inequalities. The main advantage of this method is no need for the controller structure an‎d its order, an issue that has not yet been addressed in data driven control.

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