Design of Robust Control Systems with Time-domain Specifications

Abstract A novel derivation of an IH ∞ -optimization problem from realistic design specifications is presented in this paper. The key idea is that three different independent design specifications are included which specify robustness, sensitivity, and transient response. The three specifications are pasted together by suitable switching functions. In the scalar case, the frequency response of the closed-loop system is restricted by frequencydependent disks in the complex plane with complex center points. The use of the approach is demonstrated for a real-world design example with actuator limitations and unstable plant dynamics.