Bérard, Caroline and Le Gorrec, Yann Controller parametric robustification using observer based formulation and multimodel design technique. (2001) In: Control Applications 2001 (CCA '01), 5-7 sept 2001, Mexico City, Mexico.
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Official URL: http://dx.doi.org/10.1109/CCA.2001.973951
This paper deals with equivalent observer based structure and controller robustification. The purpose of the method is to improve the parametric robustness of an initial controller, synthesized, for example, by using H∞ or μ technics. The method is based on equivalent Luenberger observer formulation and multimodel design procedure for the parametric robustification. Matrices of the equivalent ”feedforward+observer +feedback” controller are synthesized to guarantee the same closed loop eigenstructure and input/output transfert as the initial controller (without any restriction on the initial controller order). Afterwards, they are used to initialize an iterative design procedure aiming at improving the parametric robustness. This procedure is based on real-μ analysis and multimodel eigenstructure assignment (using the observer based formulation). Due to the observer structure, improvement of the parametric robustness of the initial controller without paying attention to the closed loop poles coming from the controller dynamic is obtained. Another advantage of the equivalent observer based formulation lies in the fact that it would directly be used to schedule the controller (dynamic and feedback parts). Finally the global method (equivalent observer plus robustification) is applied on the robust control of the space shuttle described in μ-analysis and synthesis toolbox.
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