ROBUST-CONTROL OF AN UNKNOWN PLANT - THE IFAC-93 BENCHMARK

Many control design specifications, such as the IFAC 1993 benchmark, i nclude stringent closed-loop performance requirements, which are requi red to be met in the face of uncertainties. Such problems can be effec tively designed by a combination of the method of inequalities, which designs for explicit closed-loop performance, and analytical optimizat ion techniques, from which robustness is obtained. This paper describe s how to combine the method of inequalities with a variety of analytic al optimization methods. An introduction to mu synthesis is also inclu ded. The design of robust controllers for the benchmark problem using these methods is described, and a simple adaptive gain scheme to impro ve the performance is suggested.