A design method of compensator to minimize model error

This paper deals with a kind of robust control method. It is well known that in the general control architectures there exits tradeoff between control performance and robustness. To overcome this tradeoff problem, we propose a kind of 2DOF(2-Degree-Of-Freedom) control system, which discriminates between control performance and robustness. We propose a compensator structure to minimize model error and achieve high control performance by using two compensators. The design method of the proposed structure is proposed, and the effectiveness is shown by control simulations.