A Novel Approach to the Phase-Shaping-Based Performance Enhancement of Multichannel Parametric Systems

The phase-shaping technique is a vital element for the control design of parametric systems. However, how to extend the technique to the matrix case is still an unsolved problem because we lack an easily applicable characterization of phase angle for transfer matrices. This article tackles this problem based on a model called the sectorial ball. Phase shaping is carried out via a scope matrix, and the corresponding design conditions are established. Furthermore, a metaheuristic algorithm is tailored for the design. Then, it is shown in detail how to apply this phase-shaping algorithm to design a high-performance gain-scheduled controller for parametric systems as well as saturated systems. Finally, this method is applied to an electronic throttle system with input saturation. Experiments and comparisons with other saturation control methods validate the effectiveness of the proposed method.