Robust $H^{\infty}$ Performance Controller Design with Parameter Uncertainty and Unmodeled Dynamics

파라미터 불확실성 및 모델 불확실성에 대한 $H^{\infty}$ 견실성능 제어기 설계

  • Lee, Kap-Rai (Dept.of Electronics Electrical Engineering, Kyungpook National University) ;
  • Oh, Do-Chang (Dept.of Electronics Electrical Engineering, Kyungpook National University) ;
  • Park, Hong-Bae (Dept.of Electronics Electrical Engineering, Kyungpook National University)
  • 이갑래 (경북대학교 전자.전기공학부) ;
  • 오도창 (경북대학교 전자.전기공학부) ;
  • 박홍배 (경북대학교 전자.전기공학부)
  • Published : 1997.02.01


The method of designing robust two degree of freedom(2 DOF) controllers for linear systems with parameter uncertainties and unmodeled dynamics is presented in this paper. Robust performance condition that accounts for robust model matching of closed loop system and disturbance rejection is derived. Using the robust performance condition, the feedback controller is designed to meet robust stability and disturbance rejection specifications, while prefilter is used to improve the robust model matching properties. The $H^{\infty}$ and $\mu$ controller for six degree of freedom vehicle with parameter variations are designed and compared. Simulations for hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.


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