Two degree optimal steady tracking controller design

This paper addresses the robust steady tracking problem when the system under consideration is subjected to norm bounded time-varying uncertainty, and the reference input signal and the external disturbance under consideration are the signal set with known dynamic characteristic polynomials. The controller design procedure is partitioned into deadbeat control design for nominal system and optimal steady-tracking control design, by using two-degree control scheme and Youla parametrization. With the deadbeat controller set and the exact formulas for computing robust steady performance measure presented by Khammash (1995), the optimal steady tracking design problem is converted into a finite dimensional l₁ optimization. The design method presented is simple and effectiveness