Robust Controller Design for Linear Dynamic Systems Using Approximate Models

摘要

Frequency-domain design techniques are extended to incorporate information deduced from the observed differences between open-loop plant and approximate model step response to quantify the uncertainty and, in particular, to guarantee closed-loop stability and tracking of step demands. A modification of this analysis uses time-domain data, leading to a simple simulation method for assessing stability that avoids the need for complex frequency domain calculations. It also yields the possibility of bounding the error in prediction of closed-loop transient performance. The approaches are all graphical in nature and are easily implemented in an interactive computer aided design mode.