ROBUST OUTPUT FEEDBACK CONTROLLER DESIGN FOR LINEAR PARAMETRIC UNCERTAIN SYSTEMS

Vojtech Veselý

   This paper proposes the guaranteed cost design of a robust output feedback controller for continuous linear parametric uncertain systems. New necessary and sufficient conditions for static output feedback stabilizability of linear continuous time systems underlay the design procedure. The proposed algorithms are computationally simple and tightly connected with the Lyapunov stability theory and the LQR optimal state feedback design. The proposed approach allows for prescribing the structure of the output feedback gain matrix (including the decentralized one) by the designer. Two design methods have been proposed in this paper, leading to two classical iterative algorithms; the V-K LMI based iterative algorithm with guaranteed convergence and the non iterative LMI based algorithm. Numerical examples are given to illustrate the performance of the proposed robust controllers.

Keywords: linear continuous system, robust control, guaranteed cost

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