Parameter space based robust control methods

Parameter space based robust control methods

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The parameter space approach to robust control is presented in this paper as a pre-requisite to the remaining book chapters. The well-established method of mapping the left-half plane for Hurwitz stability or a smaller bounded subregion of the left-half plane for D-stability are presented first. Mapping of phase and gain margin bounds and different sensitivity bounds to parameter space are introduced later in the paper with illustrative examples.

Chapter Contents:

  • 2.1 Introduction
  • 2.2 Hurwitz stability
  • 2.3 D-stability
  • 2.4 Frequency domain control basics
  • 2.4.1 Mapping phase margin bounds to parameter space
  • 2.4.2 Mapping gain margin bounds to parameter space
  • 2.4.3 Mapping sensitivity bounds to parameter space
  • 2.5 Case study: automated path following
  • 2.6 Case study: Quanser QUBE™ Servo system
  • 2.7 Singular frequencies
  • References

Inspec keywords: robust control

Other keywords: phase margin bound; parameter space approach; Hurwitz stability; sensitivity bound; gain margin bound; parameter space based robust control methods; left-half plane

Subjects: Stability in control theory

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