Feedback Control of Uncertain Systems

Abstract

In this chapter we bring together the separate threads of synthesis of feedback controllers in the absence of uncertainty, and analysis of uncertain systems, into a common problem involving both uncertainty and control. This problem is represented by the diagram shown in Figure 9.1, where G is the generalized plant as in earlier chapters, but now also describes dependence on system uncertainty. The perturbation Δ belongs to a structured ball, and K represents the controller.