A Novel Approach to Motion Control Design for Functionally Related Systems

When a complex task has to be performed by multiple systems, it imposes functional dependencies between the states and/or outputs of the systems. These functional dependencies create a system of' virtually' interconnected subsystems, even though they may be physically separated. The component subsystems within the overall system we call functionally related systems'. This paper deals with motion control design for functionally related systems. The design is based on identifying functions. The control design is then performed by projecting the system dynamics into the function space. The main goal is to obtain unit control distribution matrix in the function space and enforce a desired dynamics for each of the identified functions.