Mixed $H^2/H^\infty$ Controller Design with Regional Pole Placements for Underwater Vehicle

수중운동체의 극점 배치를 갖는 혼합 $H^2/H^\infty$ 제어기 설계

This paper presents the Mixed H2/H$\infty$ controller design method with the regional pole placements for underwater vehicle. Since the small and light underwater vehicle is sensitive to disturbances and parameter uncertainties, we design the controller which guarantees robustness against time-delays, parameter uncertainties and disturbances. The LMI(linear matrix inequality) formulations for pole placements in specific regions and H2 and H$\infty$ performances are reviewed. The desired controller can be obtained by solving these LMIs.