Robust linear optimal controller for systems with structured and bounded parameter uncertainties

A method for designing robust optimal controllers that can quadratically stabilize uncertain systems is presented. The method incorporates a systematic technique for selecting the weighting matrices Q and R of the cost function such that the optimal control law for the nominal system can stabilize the uncertain system. The method is based on the Lyapunov stability criterion and expressions similar to Liou-Yang upper bounds. The robust linear optimal control law is simply obtained by solving the standard form of the Riccati equation