Error-free robust stabilization

This paper presents a new robust stability criteria and stabilization. We clarify the mechanism of the conservativeness of conventional robust stabilization via internal model parametrization of the controller. To break through the conservativeness, the model error is estimated by the inner function, which is implemented in to the controller. This scheme yields the robust stability condition, which does not depend on the model error. The error-free robust stabilization is proposed on the basis of the criteria.