DECENTRALIZED FEEDBACK CONTROLLERS FOR UNCERTAIN INTERCONNECTED DYNAMIC-SYSTEMS

This paper presents a method for the design of decentralised controlle rs for interconnected dynamic systems with structured uncertainties. T he design problem is formulated as a constrained linear quadratic opti mal regulator problem, where the cost function is designed to incorpor ate the system uncertainties. Conditions are then derived for choosing the state and control weighting matrices that guarantee closed-loop s tability in the presence of the uncertainties. Once these matrices are appropriately chosen, a generalised Riccati equation is solved and a robust decentralised controller is obtained. Two numerical examples ar e given to illustrate the controller design method.