A tuning algorithm for multivariable restricted structure control systems using subspace identification

This paper presents a new method to design a restricted structure controller driving a multivariable plant using subspace identification methods. The algorithm employs data collected from closed‐loop operation to identify an open‐loop model of the plant using subspace identification. The method also requires knowledge of the first N impulse responses from the controller. The multivariable controller parameters are calculated by minimising a finite horizon LQG criterion subject to nonlinear constraints. Three simulation case studies are presented.