On the formulation and solution of robust performance problems
A new approach to robust performance problems is proposed. The approach involves the optimization of the so-called performance weights subject to a constraint, formulated in terms of the structured singular value, which ensures the existence of a stabilizing feedback compensator that achieves robust performance with respect to the optimized performance weights and an uncertain plant set. Optimizing over the performance weights in this way gives rise to an algorithm for systematically trading off desired performance against specified plan uncertainty and performance limitations due to plant dynamics. The algorithm also yields a robust controller. The designer is only required to specify the uncertain plant set and an optimization directionality, which is used to reflect desired closed-loop performance over frequency in terms of a corresponding cost function. Design of this directionality appears to be simpler than designing the performance weights directly.
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