An identification-for-control procedure with robust performance

A data-driven controller design procedure is proposed in this paper. The co ntroller is based on both an estimated plant model and its estimated uncert ainty described by an ellipsoid in parameter space. Desired performance is specified by the speed and the damping of the modeled response. The unmodel ed response is rejected by requiring robust performance with respect to a g eneralized stability region. Moreover, estimation of a disturbance model en ables further rejection of the unmodeled response. The methodology is appli ed to a nonlinear and unstable magnetic suspension system. High performance is achieved for various specifications over a large operational range. (C) 2000 Elsevier Science Ltd. All rights reserved.