Reduced-order dynamic compensator design for stability robustness of linear discrete-time systems

A reduced-order dynamic compensator design is presented with stability robustness for linear discrete systems, by including a stability robustness component in addition to the standard quadratic state and control terms in the performance criterion. The robustness component is based on an unstructured perturbation stability bound for time varying perturbations. The controller design is developed by the parameter optimization technique and involves the solution of five algebraic matrix equations, four of which are discrete-time Lyapunov matrix equations