Author(s)

L.C. Gadelha DeSouza

Abstract

In this paper an asymptotic Linear Quadratic Gaussian (LQG) design procedure based on a modification of the Parameter Robust Linear Quadratic Gaussian (PRLQG) approach is developed for designing a robust controller that accounts for unmodelled dynamics and parameter uncertainty for multi-input multi- output systems. The unmodelled dynamics are assumed to be characterized as a single block dynamic uncertainty at a point in the closed-loop system. Plant parameter variations are represented as an internal feedback loop via the input- output decomposition. A direct structural relationship between parameter uncer- tainties and the weighting matrices in the design of the LQG controller is exploited. This procedure is then a

Keywords