Reduced-Complexity and Robust Youla Parameterization for Discrete-Time Dual-Input-Single-Output Systems

A loop-shaping idea for dual-input-single-output (DISO) systems is presented in this paper. We explore special forms of Youla parameterization for obtaining stabilizing controllers for DISO systems, and discuss concepts to achieve reduced-complexity formulations with clearer design intuitions. The algorithm is verified by a benchmark control problem of dual-stage hard disk drive systems, using real-system models and actual vibration data.

Conference paper