Abstract
Optimal robust control design of multivariate systems using eigenstructure assignment is addressed. An analytical parametric expression of state-feedback eigenstructure assignment is derived for both real and complex-conjugate eigenvalues. The controller designed via state-feedback eigenstructure assignment is analytically expressed by new totally free parameters for the case where the sets of closed- and open-loop eigenvalues intersect, and the case where those do not. It considers both the desired closed-loop eigenvalue assignment in the time domain and the minimization of the mixed performance and robustness index in the frequency domain so that the frequency- and time-domain performance specifications are combined during the controller design. The gradient calculation of the mixed performance and robustness index is described in detail. Based on gradient-based optimization and genetic algorithms, the mixed performance and robustness index is minimized by making full use of the freedom provided by eigenstructure assignment.
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