Robust controller design of multivariable systems via eigenstructure assignment

摘要

This paper is concerned with robust eigenstructure assignment for multivariable systems. In combines time-domain performance specifications provided by eigenstructure assignment and robust performance specifications in the frequency domain considered by H~infinity control to realize joint optimal robust control design. A unified parametric solution for state-feedback eigenstructure assignment is derived for the cases where the sets of closed- and open-loop eigenvalues intersect or do not. This is based on a set of free parameters. It uses a robustness index defined in the frequency domain as the cost function to be optimized. The analytical gradient calculation of the cost function with respect to the free parameters is given. Using gradient-based optimization, the robustness index is minimized by making full use of the freedom provided by eigenstructure assignment.