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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Robustness Comparison of Tracking Controllers Using Verified Integration
verfasst von : Marco Kletting, Felix Antritter
Erschienen in: Modeling, Design, and Simulation of Systems with Uncertainties
Verlag: Springer Berlin Heidelberg
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In this contribution we discuss a method for investigating the robustness properties of tracking controllers using verified simulation. This method allows to compare the controllers with respect to robustness against uncertainty in the parameters of the plant and in the initial conditions of measured and unmeasured states. A robustness criterion is formulated, which can be evaluated using interval methods. To illustrate the approach, we compare the robustness properties of three conceptually different flatness based tracking controllers with dynamic output feedback, which are applied to a simple example.