Iterative Design Algorithm for Robust Disturbance-Rejection Control

Abstract

An iterative design algorithm is developed for robust disturbance–rejection control of uncertain systems with time-varying parameter perturbations in this paper. For more design degrees of freedom, a generalized equivalent-input-disturbance estimator is adopted to approximate the effect of both disturbances and uncertainties. By the bound real lemma, the H∞ norm is used to evaluate the robust disturbance–rejection performance of the closed-loop uncertain system. To avoid the constraints introduced by the widely used commutative condition, the control gains are divided into two groups and calculated by steps. Further, two robust quadratic stability conditions are derived, and an iterative design algorithm is developed to optimize the robust H∞ disturbance–rejection performance. Finally, the effectiveness and advantages of the developed method are demonstrated by a case study of a suspension system of modern vehicles.