Design of Simple Robust Controllers for Time-Invariant Dynamic Systems

摘要

This paper considers the problem of designing dynamic controllers with a simple structure for a linear time-invariant dynamic system with a scalar control, a vector feedback channel, and a perturbation. A simple controller is a controller whose structure cannot be simplified: an attempt to eliminate any controller element will make the designed system not satisfy the requirements. The robustness of the designed system is ensured using the original index of the controller's roughness. Among all simple controllers, this index allows identifying the one that provides the system with the maximum robustness. A method for solving the design problem is proposed and an illustrative example is given.