Abstract
This paper deals with the robust control system design and implementation of a brake actuator for a smart car. To deliver robust performance, an H∞ controller had been chosen for the task. This allows excellent disturbance rejection while requiring low computational needs. In order to realize the controller a nominal model of the system has been identified, then, the parameter uncertainties were taken into account to find the stabilizing controller. The brake system consists of a low level H∞ controller sustaining robustness, a mid-level serial compensator for effective setpoint tracking and a high level supervisory control logic to deliver a reliable system. The implementation was tested and verified on a test bench using rapid prototyping tools and HIL methods.
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