Educational Case Study on H-Infinity Robust Performance Design

Abstract

This paper deals with the design of a robust controller according to the H-infinity norm of mixed sensitivity functions. The motivation and origin are given by educational reasons. It compares how settings of individual weighting functions affect the quality of control when designing a sub-optimal controller. First, a controller for a system without uncertainty is considered (a nominal system representing a motor with a flexible clutch) and then the design is modified for a perturbated system with uncertainty in gain and also in the time constant.

Keywords

• H-infinity control
• H-infinity optimization
• robust control
• robust stability
• robustness