Abstract
This paper addresses the design of quadraucally stabilizing regulators for linear discrete-time systems subject to parameter uncertainty. The controller is designed in two steps. First, uncertainty is neglected and a controller ensuring nominal tracking performance is worked out. e.g. by means of H2 techniques. Then, based on an internal model scheme, a "robustifying" regulator is synthesized using the standard H∞ machinery. Provided that a feasible solution exists, quadratic stability is guaranteed without affecting the tracking performance in nominal conditions.
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