A new controller architecture for high performance, robust, and fault-tolerant control

In this note, we propose a new feedback controller architecture. The distin guished feature of our new controller architecture is that it shows structu rally how the controller design for performance and ro. bustness may be don e separately which has the potential to overcome the conflict between perfo rmance and robustness in the traditional feedback framework. The controller architecture includes two parts: one part for performance and the other pa rt for robustness. The controller architecture works in such a way that the feedback control system will be solely controlled by the performance contr oller when there is no model uncertainties and external disturbances and th e robustification controller will only be active when there are model uncer tainties or external disturbances.