Multivarible robust control with time-domain specifications: Servo and regulator problems

Abstract

The robust design of compensators and the input scaling aiming setpoint tracking and disturbance rejection with time-domain specifications are presented from a perspective of loop-shaping. Since there is not an explicit relationship between loop-shaping and time-domain specifications, the latter are indirectly taken into account by forcing the plant output to follow the output of a reference model. The design specifications are written in form of loop-shape constraints. Hence, techniques like H∞ can be applied. In order to discuss the frequency dependence of the design constraints, an electromagnetic levitation suspension vehicle prototype and a multivariable mixture tank are considered. © Springer-Verlag 2007.