Abstract
In this paper the robust asymptotic tracking and disturbance rejection problem is solved for linear time-invariant systems whose matrices are assumed to depend on some parameters, each of which possibly affects all the elements of the matrices describing the system, thus playing the role of a “physical” parameter. It is assumed that reference commands exist only for some of the controlled outputs (i.e. that some scalar outputs must only be regulated). For such outputs the row by row decoupling at the nominal parameters is also obtained. Both the conditions for the existence of a solution and a design procedure of the compensator are given, the latter enabling us to satisfy some performance requirement in some (possibly “large”) subset of the parameter space (with the help of the existing robust stabilization procedures).
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