Robust compensator design for exploiting existing control systems

Simple design methods are proposed for attaching compensators to improve the robustness of previously designed control systems in use. Robust model matching (RMM) is a practical approach to designing robust compensators. First, RMM is generalised and its standard design procedure is presented. Then, by considering the configuration of RMM, design methods for attachable robust compensators are suggested. The performance of the proposed method is then examined with laboratory experiments