Extension of the GarSD-toolbox: Polynomial method for guaranteed performance design of sampled-data control systems with non-zero static error and pure delays

Using an extension of the GarSD-toolbox for MATLAB^®, the paper considers the design of a digital control algorithm for a continuous-time process under external stochastic disturbance, which could possess non-zero mean and its distribution is not exactly known. The problem consists in finding a controller which guarantees a certain performance of the control system in the sense of a given cost functional for all admissible disturbances, i.e. a controller, which is robust with respect to the distribution of the disturbance. In addition, the provided method permits to reduce the static error to zero, and pure delays in the loop are allowed. The method is based on the parametric transfer function concept and design methods for control with guaranteed performance. An example demonstrates its application.