Title :
Uncertainty vs Performance Trade-Offs in Robust Feedback Control: A Mimo Case Study
Author :
Vasconcelos, J.F. ; Athans, M. ; Fekri, S. ; Silvestre, C. ; Oliveira, P.
Author_Institution :
Inst. for Syst. & Robotics, Inst. Superior Tecnico, Lisbon
Abstract :
We use a non-trivial MIMO three-cart Mass-Spring-Dashpot (MSD) system to demonstrate how performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased in the presence of unmodeled dynamics. All designs are carried out by the mixed-mu robust synthesis methodology. Comparisons are made: (a) in the frequency-domain, (b) by RMS values of key signals and (c) in time-domain simulation results
Keywords :
MIMO systems; control system synthesis; feedback; robust control; uncertain systems; MIMO three-cart mass-spring-dashpot system; disturbance rejection; mixed-mu robust synthesis; robust feedback control; unmodeled dynamics; Control systems; Feedback control; Frequency domain analysis; MATLAB; MIMO; Mathematical model; Robust control; Robust stability; Robustness; Uncertainty;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377661
