Robust control via higher order trajectory sensitivity minimization

by Chopra, Avnish

A new method to obtain Robust Control using Dynamic Compensators has been developed that minimizes the higher order sensitivities (HOS) of the system. The HOS are defined as the second order, third order, etc. partial derivatives of the state and control vectors with respect to the uncertain parameters. The feedback gains are obtained by minimizing a Quadratic cost function that includes state and control sensitivities of arbitrary order. A numerical algorithm is used for solving the resultant system of equations. The effectiveness is demonstrated by design of an output feedback controller for a flexible sructure in the form of a simply supported beam.