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This paper presents a new robust stability criteria and stabilization. We clarify the mechanism of the conservativeness of conventional robust stabilization via internal model parametrization of the controller. To break through the conservativeness, the model error is estimated by the inner function, which is implemented in to the controller. This scheme yields the robust stability condition, which...
This paper clarifies the mechanism of weakness of Smith predictor control about robust stability to the delay mismatch. The approximate Smith predictor is introduced to remove the cause. The sufficient condition for robust stability of the approximate Smith predictor control is proved. It is shown that the stability area becomes wider in comparison with the original Smith predictor.
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