μ-Synthesis

Abstract

This chapter is devoted to the implementation aspects of one of the most important techniques in Robust Control Design, namely the μ-synthesis. For properly chosen weighting functions this design method usually produces a controller that ensures both robust stability and robust performance of the closed-loop system. After a short statement of the μ-synthesis problem, we describe the usage of the function dksyn from Robust Control Toolbox^® that iteratively determines a controller which minimizes the closed-loop structured singular value. Some versions of the μ-synthesis are considered next, including the design of a 2-degree-of-freedom controller that usually produces the best results with respect to the closed-loop robust performance. At the end of the chapter we discuss some practical aspects of the μ-analysis and μ-synthesis.