Multi-Dimensional Control Performance Assessment for Mechatronic Closed-Loop Systems

This paper presents a new method for the multi-dimensional control performance assessment (MCPA), tailored to nonlinear mechatronic systems, which typically exhibit high-dynamic set-point changes and trajectory tracking. The proposed approach combines several performance criteria, which are represented by specifically designed control performance indicators (CPIs), both for the steady-state and dynamic behaviour of the closed-loop system. The individual CPIs also provide valuable feedback to the control engineer how to improve the closed-loop performance. A graphical representation in form of a spider chart makes it easily possible to compare different control structures and controller tunings. A distinct advantage of the proposed MCPA approach is that it can be applied in situ during operation. The feasibility is demonstrated by evaluating the closed-loop performance of two controllers based on measurement data of an industrial electro-hydraulic valve.