The problem of making a given stabilizing controller robust so
that the closed-loop system remains stable for prescribed ranges of
variations of a set of physical parameters in the plant. The problem is
treated in the state-space and transfer-function domains. In the
state-space domain a stability hypersphere is determined in the
parameter space using Lyapunov theory. The radius of this hypersphere is
iteratively increased by adjusting the controller parameters until the
prescribed perturbation ranges are contained in the stability
hypersphere. In the transfer-function domain a corresponding stability
margin is defined and optimized on the basis of the recently introduced
concept of the largest stability hypersphere in the space of
coefficients of the closed-loop characteristic polynomial. The design
algorithms are illustrated by examples
作 者
学科领域 自然科学 » 力学
Robust control with structure perturbations
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