ROBUST CONTROLLER SYNTHESIS USING KHARITONOV THEOREM

Kharitonov's theorem provides a necessary and sufficient analysis test for robust stability of polynomials whose coefficients lie within a hyperrectangle. In this note, we present a method based upon Kharitonov's theorem for synthesizing robustly stabilizing feedback controllers. Our approach is based upon a multiple plant model formulation with a quadratic cost functional. Sufficient conditions are obtained for characterizing robustly stabilizing static output feedback (proportional) controllers for MIMO plants with denominator polynomial uncertainty.