COUPLING BETWEEN THE MODELING AND CONTROLLER-DESIGN PROBLEMS .2. DESIGN

In Part I of this paper, the coupling between the modeling and control ler-design problems was quantified in terms of the size of the set of models from which satisfactory controllers may be derived. Herein, the significance of this coupling in controller design is exploited in th e formulation of a simultaneous approach to modeling and controller de sign. The goal is to minimize the worst-case control effort subject to constraints on worst-case performance. It is proven that, by allowing the controller design model and the controller to vary simultaneously , this approach yields a potential reduction in the control effort req uired to satisfy the prescribed performance goals in comparison to the traditional sequential approach. Two simple examples illustrating the benefits of this approach are also presented.