Title :
Fundamental limits in robustness and performance for unstable, underactuated systems
Author :
Thibeault, Nancy Morse ; Smith, Roy
Author_Institution :
Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
fDate :
8/1/2001 12:00:00 AM
Abstract :
We derive bounds on the ℋ∞ norm of a weighted output sensitivity function and a weighted output complementary sensitivity function for an underactuated, multiple-input-multiple-output (MIMO), linear, time-invariant (LTI), unstable plant in feedback with an internally stabilizing, LTI controller. These bounds indicate a limit to the achievable robustness and performance for such systems and thus, are valuable tools for performing system design tradeoffs
Keywords :
H∞ control; MIMO systems; linear systems; multivariable control systems; robust control; sensitivity; ℋ∞ norm; feedback; internally stabilizing LTI controller; performance limits; robustness limits; system design tradeoffs; underactuated MIMO LTI unstable plant; unstable underactuated systems; weighted output complementary sensitivity function; Artificial biological organs; Control systems; Explosions; History; Linear feedback control systems; MIMO; Magnetic moments; Output feedback; Robust control; Robustness;
Journal_Title :
Automatic Control, IEEE Transactions on
