The design of robust feedback controllers in the time domain

Abstract

In this new approach to designing multivariable feedback controllers in the time domain the model uncertainties are dealt with in the sense of unknown-but-bounded uncertainties. They are described by multi-input multi-output comparison systems. Thus, the character of the plant as a multi variable dynamical system is preserved even in the considerations of the uncertainties. The controller parameters are selected by means of well-known design algorithms. The robustness of the controller is investigated on the basis of a stability condition and an estimate of the input-output behaviour of the incompletely known closed-loop original system. The results are illustrated by a practical design example.