Robust controller design for matrix second-order systems with structured uncertainty

• Published in: IEEE transactions on automatic control Vol. 44; no. 2; pp. 401 - 405
• Main Authors: Diwekar, A.M., Yedavalli, R.K.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.02.1999; Institute of Electrical and Electronics Engineers
• Subjects: Applied sciences; Asymptotic stability; Computer science; control theory; systems; Control system synthesis; Control systems; Control theory. Systems; Damping; Design engineering; Dynamical systems; Dynamics; Eigenvalues and eigenfunctions; Exact sciences and technology; Formulations; Gain; Mathematical analysis; Matrices; Open loop systems; Robust control; Robust stability; Stability; Stability analysis; Symmetric matrices; Testing; Robust control; Second order; Uncertain system; Stabilization; Control system; System design; System synthesis
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/9.746276

Matrix second-order systems arise frequently in the formulation of dynamic systems in classical mechanics, robotics, aerodynamics and many others. Though formulation of the control design problem in matrix second-order form has many advantages, there is very little literature available on this topic-even for nominal case. In this paper, we design controller gains directly in matrix second-order formulation for robust stability in a specified range of parameter variations. The stabilizing controller gains for the entire parameter variations range are obtained from only two given extreme matrices without formulating or checking the stability of other vertex matrices of the family. The design algorithm is computationally efficient and simple.