Dynamic Robust Output Min–Max Control for Discrete Uncertain Systems

Min–max control is a robust control, which guarantees stability in the presence of matched uncertainties. The basic min–max control is a static state feedback law. Recently, the applicability conditions of discrete static min–max control through the output have been derived. In this paper, the results for output static min–max control are further extended to a class of output dynamic min–max controllers, and a general parametrization of all such controllers is derived. The dynamic output min–max control is shown to exist in many circumstances under which the output static min–max control does not exist, and usually allows for broader bounds on uncertainties. Another family of robust output min–max controllers, constructed from an asymptotic observer which is insensitive to uncertainties and a state min–max control, is derived. The latter is shown to be a particular case of the dynamic min–max control when the nominal system has no zeros at the origin. In the case where the insensitive observer exists, it is shown that the observer-controller has the same stability properties as those of the full state feedback min–max control.