A design of robust servosystems with a feed-forward term for structured uncertain plants

摘要

This paper proposes a design method of robust servosystems with a feed-foward term. The plant we consider is assumed to have structured uncertainties in the state space equation. We construct the control system as follows. First, we give an upper bound of the L2 norm of the tracking errors of the state and the control input and minimize it subject to the uncertainties. Next, we reduce the above design problem to a convex optimization. Consequently, we can calculate the feed-foward term.