H ∞ robust controller for self-tuning control applications Part 1. Controller design

Abstract

The design of H ∞ controllers for scalar self-tuning control applications is considered. The conventional cost function employed in H ∞ design involves the sum of weighted sensitivity and complementary sensitivity terms and leads to a control law which may be too difficult to calculate on-line. The cost function defined here allows both such terms to be costed, but is constructed so that the control law calculation is much simplified.