APPLICATION OF QFT ORDER REDUCTION METHODOLOGY IN THE CONTROL OF AN AUTONOMOUS MARINE VEHICLE
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Abstract
Quantitative Feedback Theory (QFT) is a control methodology that allows you to work with mathematical models of high order, although it gives rise to compensators (controllers and/or prefilters) with order also high. The implementation of such controllers generates problems, even in some occasions unworkable. So, it’s necessary trying to reduce the order of the model, to get low order controllers; or treating with the high order plant and reducing only the solution controllers. We are applying a QFT order reduction methodology for the course-changing control of a marine vehicle. The results are compared with those obtained with a classical QFT controller and with a PID controller.
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