Model-Based and Data-Drıven H∞ Controller Synthesıs for Stabılızed Platforms

Abstract

In this study, model-based and data-driven H∞ robust controller synthesis methods are developed for line of sight control problem of stabilized platforms. Within the scope of the study, frequency response functions of the platform are obtained by using the input/output signals obtained by open-loop system identification tests. The parameters of the nominal plant model to be used in the design of model-based controllers are determined with the help of defined optimization problems. Full-order and fixed-order model-based H∞ robust controller synthesis processes are discussed within the framework of the S/KS/T mixed-sensitivity problem. On the other hand, the synthesis of fixed-order data-driven H∞ robust controller is realized by means of a novel two-step method that is developed within the scope thesis study. The stability and performance characteristics of the designed controllers are determined by examining the frequency domain responses of closed-loop transfer functions. Finally, reference tracking and disturbance rejection performances of the designed controllers are compared by real-time experiments carried out with the stabilized platform used in military applications.