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; left-half plane; parameter space based robust control methods

Subjects: Stability in control theory