This thesis’ main goal is to introduce an efficient, practical and easy to implement solution to a
recurring problem in projects of LQG/LTR multivariable robust controllers: the high order these
controllers may obtain depending on the complications presented by the system hampering its
control in a satisfactory way. For this goal to be achieved, a system model reduction technique with very simple methodology
is introduced, dispensing any needs of complex programming for its use. This methodology however,
is only applicable to a very specific class of system. Summarizing, the system must have state
variables decoupled from the rest of the system, that is, variables that don’t not influenced by others
and that also don’t cause major effects on the system’s outputs. It was chosen a sixth order multivariable system having two inputs and two outputs for the
model order reduction be tested. This system has the special characteristics mentioned before and
also demands a dynamic compensator project as well as the integrators addition to its outputs so it
can be controlled adequately. This text intends to show the procedure for the whole project, since the reduced order model
achievement to the LQG/LTR controller implementation. Then, the obtained controller is tested
through several simulations and the attained results are discussed for effectiveness and practicality
evaluation of the proposed method for reduced order controller project.
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