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Simplifying Robust Control Designs of Parametric Uncertain Systems Using Dimensional Transformations

[+] Author Affiliations
Haftay Hailu, Sean Brennan

Pennsylvania State University

Paper No. IMECE2005-81885, pp. 77-83; 7 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


Robust control techniques have become more popular in the last decade because of their ability to construct a single controller suitable for a family of plants that are represented as a nominal plant with an uncertainty bounds. A typical challenge with robust control design is that, as the size of the uncertainty block gets bigger, the complexity of the control synthesis and resulting controller exponentially increases. Using a dimensional transformation method, this work shows that some robust control problems can be recast into an equivalent representation with a much smaller size of uncertainty block. This reduction potentially reduces the conservativeness and computational complexity of both H∞ /μ – synthesis methods. This method is demonstrated using the 1990 ACC benchmark problem.

Copyright © 2005 by ASME



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