1. Univ logo Selection of Input and Output Structure Afrouz Farshad Mehr Prof.Nicos Karcanias City University of London

2. Univ logo What is the problem? What we are taught in the university: We know the variables ‘w’, ‘z’, ‘v’ and ‘u’, design the controller “K”! Great !!!! I am ready to go for the job! What they want us to do in the job: Design a controller to achieve the required production rates and product quality! But:  We have thousands of variables.  We don’t know what the inputs(sensors)and outputs (actuators) are.  We would like to use as few sensors/actuators as possible.  We need to get the best control results by expending the least possible energy.  System should be stable  etc

3. Univ logo How to solve the problem? (2) (1) (3) (4)  First we look for the minimum input energy  Then We select the proper control inputs (actuators) which provides us with the minimum value of the minimum energy.  We use the duality to select the proper outputs (sensors) with the maximum output energy.

4. Univ logo  Select B such that (A,B) has the “best” energy based controllability properties  Select B such that (A,B) has the “best” properties for reduced norm state feedback design.  Use the duality for the selection output matrix “C”!  Select B, C such that (A,B,C) has the “best” properties for reduced complexity dynamic feedback and reduced gain design for the different types of dynamic feedback.  how selection of B, C may minimize the variations on a number of resulting overall system properties in the presence of uncertainty.

5. Univ logo Conclusion:  Input /output Structure Selection based on Energy  Feedback Gain and Input, Output Structure selection  Input, Output Selection for improved robustness/sensitivity of design

6. Univ logo Future works:  Multi-objective input/output selection  Searching algorithms for desirable Input-Output structure in discrete systems  Generalizing the results to nonlinear systems