H~∞ LOOPSHAPING USING GRAPHICAL LOOPSHAPING IDEAS

摘要

This paper studies the design of robust controllers using a robust loopshaping approach, by selection of the weighted plant using graphical loopshaping ideas. The H_∞ Loop Shaping method is applied to calculate an optimal controller. The problem of choosing the desired shape of the open-loop transfer function needed by this method is addressed by considering the available uncertainty information and applying Graphical Loopshaping ideas. Thus, this methodology considers not only the robustness properties of the shaped plant, but also those of the real plant. Several examples show the advantages of using this approach.