This article presents a new strategy to design robust model matching dynamic output-feedback controllers that guarantee tracking response specifications, disturbance rejection and noise attenuation. The proposed synthesis methodology, based on a multi-objective optimisation problem, can be applied to uncertain continuous or discrete-time linear time-invariant systems with polytopic uncertainty, leading to both full-order and reducedorder robust-performance dynamic controllers. The objective functions represent the H 1 -norm of the difference between the closed-loop transfer function matrix, from the reference signals and the plant outputs and the reference model matrix, the H 1 -norm of the closed-loop transfer function matrix from the disturbances and the plant outputs and the H 2 -norm of the closed-loop transfer function matrix from the measurement noises and the control inputs. An integral control action is also introduced in order to achieve zero steady-state error. In the case of MIMO systems, the proposed strategy can be applied to decouple the closed-loop control system choosing an appropriated reference model matrix. Two examples are presented to illustrate both SISO and MIMO systems control synthesis.
This paper presents a new strategy for robust dynamic output-feedback control synthesis for uncertain discrete-time linear time-invariant systems represented by polytopic models. It is proposed a multiobjective optimization problem to guarantee tracking response specifications, disturbance rejection, and noise attenuation. The novelty is to consider as an additional objective function the minimization of the H∞-norm of the error between the closed-loop transfer function from the reference signal to the controlled output and a reference model to attain the tracking response specifications. It is applied a two step iterative procedure to solve the bilinear matrix inequality problem. A numeric example is presented to illustrate the effectiveness of combining the closed-loop reference model together with other control objectives.Index Terms-Robust control, dynamic outputfeedback control, reference model, polytopic systems.
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