Computerized design of controllers using data models

The major contributions of the grant effort have been the enhancement of the Compensator Improvement Program (CIP), which resulted in the Ohio University CIP (OUCIP) package, and the development of the Model and Data-Oriented Computer Aided Design System (MADCADS). Incorporation of direct z-domain designs into CIP was tested and determined to be numerically ill-conditioned for the type of lightly damped problems for which the development was intended. Therefore, it was decided to pursue the development of z-plane designs in the w-plane, and to make this conversion transparent to the user. The analytical development needed for this feature, as well as that needed for including compensator damping ratios and DC gain specifications, closed loop stability requirements, and closed loop disturbance rejection specifications into OUCIP are all contained in Section 3. OUCIP was successfully tested with several example systems to verify proper operation of existing and new features. The extension of the CIP philosophy and algorithmic approach to handle modern multivariable controller design criteria was implemented and tested. Several new algorithms for implementing the search approach to modern multivariable control system design were developed and tested. This analytical development, most of which was incorporated into the MADCADS software package, is described in Section 4, which also includes results of the application of MADCADS to the MSFC ACES facility and the Hubble Space Telescope.