DESIGN OF A DETERMINISTIC CONTROLLER WITH INTERNAL MODEL PRINCIPLE FOR UNCERTAIN LINEAR-SYSTEMS

A deterministic linear controller is designed for a linear time invari ant system described by a transfer function model based on pole placem ent. The knowledge required from the unknown system is the bounds of s ystem uncertainties. It is shown that the resulting controller is robu st against both structured and unstructured uncertainties and gives an exponentially stable closed-loop feedback system. The internal model principle is included in the controller design to achieve perfect trac king/disturbance rejection.