Estimated frequency domain model uncertainties used in robust controller design-a μ-approach

This paper deals with the combination of system identification and robust controller design. Recent results on estimation of frequency domain model uncertainty are utilized in robust analysis and controller design using μ. It is shown how estimated frequency domain uncertainty ellipses may be represented within the general μ-framework using a mixed perturbation set. A methodology for synthesizing optimal mixed perturbation set μ-controllers has been developed. A control design strategy achieving-if possible-robust performance control systems given the uncertainty estimates could then be formulated. The design method was successfully applied to a laboratory centrifugal pump/induction motor configuration resembling a small domestic water supply system