Abstract
To perfectly govern MIMO (Multi-Input Multi-Output) processes, a fully populated matrix controller has been developed due to its flexibility. Taking into account the plant uncertainties, the CRONE (Commande Robuste d'Ordre Non Entier) control approach is used with the non-diagonal quantitative feedback theory (QFT) procedure. The MIMO-QFT robust synthesis methodology has been used in order to generate the appropriate equivalent MISO (Multi-Input Single-Output) system structure from the MIMO plant. For each MISO structure, the CRONE control approach based on third-generation CRONE methodology is used to find the diagonal elements of the controller of the plant while considering the plant uncertainties. The non-diagonal part of the controller is determined to reach the aim of minimizing the coupling effects. After that, a fractional prefilter synthesis approach is developed to find the non-integer prefilter expression satisfying the tracking specifications. A SCARA robot manipulator has been used to verify the designed controller performances.