Abstract
AbstractIn this paper we generalize our previous results on the synthesis of robust controllers. A novel controller/scaling algorithm is proposed that allows for the use of arbitrary real-rational Integral Quadratic Constraint (IQC) multipliers with no poles on the extended imaginary axis. In contrast to the classical μ-synthesis approaches, the techniques completely avoid gridding as well as curve-fitting. Moreover, while the classical approaches are restricted to the use of real/complex time-invariant or arbitrarily fast time-varying parametric uncertainties, the IQC framework can be employed for a much larger class of uncertainties involving nonlinearities and bounds on rates of time-varying parametric uncertainties. The results are illustrated through a numerical example.
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