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The main goal of a control system is that of causing a dynamic process to behave in a desired manner. The analysis and design of such a control system to provide a demanded behaviour is usually done by employing a mathematical model of the dynamic process. This model is chosen to represent the major dynamical features of the process. For the reason that the mathematical model is an idealization of the real process, it is imprecise and this inaccuracy entails the existence of model uncertainty. This fact, among others, complicates the analysis and design of a control system. The choice of the control structure plays an essential role to allow the attainment of the demanded behaviour. Typically, some kind of specifications, for example, open-loop and closed-loop specifications, cannot be fulfilled simultaneously and trade off between them has to be considered. Therefore, it is important to distinguish between difficulties to the control problem (such as model uncertainty, disturbances that cause the output to deviate from its desired value, etc.) and difficulties due to the control structure. In this way, the work has been focused on attempting to find out and use new control structures to avoid traditional difficulties related with standard, well-established, feedback control configurations.

2 dof robust controller design using fopdt model