Passivity-based Robust Control
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In Chapter 2, we have seen that input feedforward passivity (IFP) is a phase related property. Therefore, it is possible to characterize the uncertainties in terms of their IFP so that both the phase and gain information of the uncertainties can be used, leading to a potentially less conservative control design approach. Robust control design methods based on the passivity uncertainty bound are presented in this chapter, along with case studies and illustrative examples. The developments are for linear systems, leading to systematic approaches that can be readily applied to process control practice.
KeywordsRobust Stability Nominal Performance Linear Quadratic Gaussian Small Gain Theorem Bilinear Matrix Inequality
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