Differential uncertainty is involved in actual system inevitably. That brings great inconvenience for the controller design. In this paper we treat the differential uncertainty as a separate item, and use the robust control theory to analyze the robust performance. Considering the impact of parameter variations, un-model dynamics and external disturbances, we design robust H 2 /H ∞ controller. We use the ship yaw/roll coupling system to verify the effectiveness of the controller. We present a simulation resul…
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