DESIGN OF A LINEAR CONTROLLER FOR ROBUST TRACKING

In this paper a tracking control problem for a linear system with uncertain parameters is considered. The objective of this paper is to design a robust controller such that for all allowable parameter variation values the system is robustly stable and its output asymptotically tracks the command reference input. This tracking for all possible parameter variation values is accomplished by the general two-degree-of-freedom controller. The key observation is that the design parameters still exist a great deal of flexibility which could be fully utilized to require the desired capabilities. We propose the parameterization approach to the design of H(infinity) control systems which are guaranteed to be robustly stable and to meet robust performance. Finally, some simulation results are given to demonstrate the effectiveness of the proposed controller.