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In certain applications, such as the control of flexible structures, the plant transfer function is known to be psitive real. This property arises if the sensor and actuator are colocated and also dual, for example, force actuator and velocity sensor or torque actuator and angular rate sensor. In practice, the prospects for controlling such systems is quite good since, if sensor and actuator dynamics...
One of the most important aspects of the control design and evaluation process is the analysis of feedback systems for robust stability and performance. Over the past several year significant attention has been devoted to the use of small gain tests and other norm-based methods. Unfortunately, due to their dependence on norms, these tests do not allow the inclusion of phase information regarding the...
An LQG control-design problem involving a constraint on H∞ disturbance attenuation is considered. The H∞ performance constraint is embedded within the optimization process by replacing the covariance Lyapunov equation by a Riccati equation whose solution leads to an upper bound on L2 performance. In contrast to the pair of separated Riccati equations of standard LQG theory, the H∞-constrained gains...
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