Sl. Devilbiss et S. Yurkovich, EXPLOITING ELLIPSOIDAL PARAMETER SET ESTIMATES IN H-INFINITY ROBUST-CONTROL DESIGN, International Journal of Control, 69(2), 1998, pp. 271-284
Citations number
26
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
The focus of this investigation is the exploitation of knowledge of an
ellipsoidal bound on system parameters for the identification of mode
ling uncertainty information vital to the H-infinity, robust control d
esigner, a time to frequency domain uncertainty transformation. The ch
aracterizations of parametric uncertainty as coprime factor and additi
ve perturbations to a nominal plant model are addressed in worst-case
analyses. A Kharitonov type analysis provides sufficient conditions fo
r the use of an additive plant perturbation uncertainty characterizati
on. Original optimization results for the coprime factor perturbation
enable the essential task of loopshaping to be conducted in the contro
l design phase. A novel scheme is introduced to interpolate magnitude
samples of the perturbation bounding function and is further developed
into a technique for identification of reduced-order perturbation wei
ghtings, vital for practical control design. An example serves to illu
strate the success of the developed techniques.