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Published in:
2008 | OriginalPaper | Chapter
Robustness to Regular and Singular Perturbations
Authors : Tamer Başar, Pierre Bernhard
Published in: H∞-Optimal Control and Related Minimax Design Problems
Publisher: Birkhäuser Boston
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The objective of this chapter is to present a framework wherein
robustness
properties of
H
∞
controllers obtained in Chapters 4 and 5 can be studied in the presence of small perturbations on the original system dynamics — such as small nonlinearities (for linear systems), unmodeled fast dynamics, and unmodeled weak coupling between subsystems of a large-scale system. This general framework will first be introduced in a context where the controller has access to perfect-state measurements (as in Chapter 4), and then extended to the imperfect-state measurements case only for linear systems. This will allow us to state precise robustness results for
H
∞
controllers.