Design of robust controllers with delayed model and the method of moments

This paper deals with the design of robust controllers using the method of moments. This methodology is based on a reference model used to specify the time and frequency requirements for the closed-loop. This controller design procedure can be interpreted as an approximation of the internal model control technique. This theoretical interpretation is used to design a robust controller with respect to high frequency modelling errors, like those caused by the identification procedure. A Monte Carlo simulation is used to demonstrate the robustness capabilities of this approach.