Abstract
This paper describes an optimization method for designing feedback systems subject to large parameter uncertainty. Following the design philosophy of the Quantitative Feedback Theory (Horowitz and Sidi 1972 HOROWITZ , I. M. , and SIDI , M. , 1972 , Synthesis of feedback systems with large plant ignorance for prescribed time-domain tolerances . International Journal of Control , 16 , 287 – 309 ; 1978, Optimum synthesis of non-minimum phase systems with plant uncertainty. International Journal of Control, 27, 361–386 .[Taylor & Francis Online], [Web of Science ®] , [Google Scholar], 1978) the objective is to minimize the magnitude of the open loop L(jω) at high frequencies subject to: (a) low and intermediate-frequency bounds capturing the closed-loop robust-performance objectives; (b) a universal-frequency bound on L(jω) which limits the effects of disturbances; and (c) realization constraints on L(s) in the form of Bode's integral. This last relation is discretized at a number of frequencies and defines, together with (a) and (b), the overall set of linear constraints in a resulting linear programming optimization problem.
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