Uncertain Systems and Robustness
The ability of dealing with uncertainty (uncertain system) is an essential part when designing a robust feedback controller. The objective is indeed to determine the controller parameters ensuring acceptable performance of the closed-loop system despite the unknown disturbances affecting the system as well as the uncertainties about the plant dynamics. To this end, it is necessary to be able to take into account the model uncertainties during the design phase of the controller. In this chapter, we briefly describe some basic concepts regarding uncertain systems and robustness analysis. The last part of this chapter is devoted to structured robust control, for which a specific stochastic algorithm is developed.
KeywordsUncertain System Structure Controller Structure Uncertainty Dynamic Uncertainty Small Gain Theorem
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