ROBUST NON-MINIMUM-PHASE COMPENSATION FOR A CLASS OF UNCERTAIN DYNAMIC-SYSTEMS

This paper presents robust control synthesis techniques for uncertain dynamical systems subject to structured parameter perturbation. Both classical and H infinity control synthesis techniques are investigated. Most H infinity-related control techniques are not directly concerned with the structured parameter perturbation. In this paper, however, a new way of incorporating the parameter uncertainty in the robust H infinity control design is explored. A generic model of uncertain dynamical systems is used to illustrate the design methodologies developed in this paper. It is shown that, for a certain class of noncollocated structural control problems, use of either technique results in non-minimum-phase compensation.