Design of Optimally Robust Controllers with Few Degrees of Freedom

Abstract In this paper a first attempt is made to the design of robust controllers for families of plants with interval and linearly dependent coefficient perturbations. An optimally robust controller is defined as a controller of fixed order stabilizing the nominal plant and maximizing the closed loop stability margin in the controller parameter space. Compensators of fixed structure and with coefficients depending on one or two free design parameters are considered. An algorithm for determining optimally robust controllers is proposed and an application example is presented to illustrate performance of the algorithm

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