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Z Proc. Cont. Vol. 7, No. 3, pp. 181-194, 1997
© 1997 Elsevier Science Ltd. All rights reserved
Printed in Great Britain
Ez,szvI~rt 0959-1524/97 $I7.00 + 0.00
PII: S0959--1524(96)00027-3
Controller performance assessment by frequency
domain techniques
Scott J. Kendra* and Ali (~inart
Department of Chemical and Environmental Engineering,///inois/nstitute of
Technology, Chicago,/L 60616, USA
Received 27 February 1996;in final form 7 November 1996
A system identification based method for assessing the performance of closed-loop systems is proposed,
utilizing measures which coincide naturally with classical and modem frequency domain design specifica-
tions. Standard robust control system design methodologies seek to maximize closed-loop performance,
subject to strict robustness requirements and include specifications for bandwidth and peak magnitude of
the sensitivity and complementary sensitivity functions. Estimates of these transfer functions can be
obtained by exciting the reference input with a zero mean, pseudo random binary sequence, observing the
process output and error response, and developing a closed-loop model. Performance assessment is based
o
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