WEIGHT-BALANCED ROBUST CONTROLLERS WITH PRESPECIFIED OR MINIMUM NORM

摘要

Optimum controller design requires numerically adequate controller parameters. They are directly incorporated into the optimum design by means of a norm measure and used for incrementally changing the weighting matrices. A design procedurebalancing the weighting matrices is introduced where the weighting matrices are only structurally interrelated. The numerical values of the weights are obtained incrementally with the aim of obtaining a prespecified or a minimum norm of the coefficientmatrix of the state-space controller. The method is carried out in H{sub}2 and extended to H{sub}∞ design. Robustness and robustification is also integrated into the solutions. Short examples illustrate the iterative procedures.