The paper proposes a measure of robust performance based on frequency domain experimental data that allows nonconservative modeling of uncertainty. Given the nominal model of the plant and closed-loop performance specifications the iterative control design and remodeling of model uncertainty based on that measure leads to a controller with improved robust performance. The structured dynamic uncertainty is allowed to act on the nominal model in a linear fractional transformation (LFT) form. The proposed method is a modification of the structured singular value with implicit constraints on model consistency. The usefulness of the method is demonstrated on a vehicle control simulation example.
- Robust control
- Structured dynamic uncertainty
- Uncerting modeling
ASJC Scopus subject areas
- Electrical and Electronic Engineering