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Improved scaling functions for robust synthesis
Author(s) -
Adams Richard J.
Publication year - 1998
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(199803)8:3<231::aid-rnc272>3.0.co;2-h
Subject(s) - scaling , mathematics , linear matrix inequality , multiplier (economics) , robust control , scalar (mathematics) , convergence (economics) , polynomial , transfer function , mathematical optimization , control theory (sociology) , computer science , control system , control (management) , mathematical analysis , engineering , geometry , artificial intelligence , economic growth , electrical engineering , economics , macroeconomics
An algorithm for finding improved D ‐scale transfer functions for robust control synthesis is presented. Generalized Popov multipliers and a linear matrix inequality (LMI) multiplier formulation are used to find D ‐scalings of polynomial order and arbitrary structure which provide advantages over the normal curve‐fit scalings in a D – K iteration. The two primary benefits are enhanced convergence properties and the capability to handle repeated scalar block uncertainty. A flexible manipulator control example illustrates the advantages of the new D ‐scaling approach. © 1998 John Wiley & Sons, Ltd.