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A new design methodology inspired by dynamic inversion techniques is proposed in this paper. It combines partially linearizing inner-loops with structured and robust outer-loops, which are designed by a non-smooth multi-model H∞ optimization approach. The proposed methodology also includes a robustness analysis scheme providing worst-case configurations, which are then used to enrich the bank of design...
This paper reviews a set of μ-analysis based tools developed by the authors during the last decade to evaluate the robustness properties of high-dimensional linear plants subject to numerous time-invariant uncertainties. These tools allow to compute both upper and lower bounds on the robust stability margin, the worst-case H∞ performance level, as well as the traditional gain, phase, modulus and time-delay...
This paper investigates constrained control design problems involving mixed magnitude and rate saturations. We show that simultaneous design of structured feedback and anti-windup gains can be recast as minimizing two H∞-norm objectives. One is associated with nominal system operation while the other also captures the saturations effects. Because of the two-block structure of the controller, the problem...
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