Robust Stabilization and Disturbance Attenuation for Discrete-Time Systems with Structured Uncertainty

This paper presents a method based on the use of discrete algebraic Riccati equations for designing state and output feedback control laws for plants with structured uncertainty. The designs provide both robust stability and disturbance rejection with uniform H? norm bounds. The design method consists of incorporating information on the plant uncertainty into the Riccati equations used for nominal H? suboptimal designs.