A Control Loop Structure Based on Singular Value Decomposition for Input-Coupled Systems

This paper introduces a control structure based on the singular value decomposition (SVD) to control multiple subsystems with reduced inputs. The SVD System permits simultaneous, dependent control of sets of subsystems coupled by a row-column input design. The use of the SVD differs from previous applications because it is used to obtain a low-rank approximation of desired inputs. The row-column system allows many actuators to be controlled by a few inputs. Current control methods using the row-column system rely on scheduling techniques that permit independent actuator control but are too slow for many applications. The inspiration for this new control construct is a pin array human machine interface, called Digital Clay. Some useful properties of the SVD will be discussed and the SVD System will be described and demonstrated in a simulation of Digital Clay.