A design method of model error compensator for systems with polytopic-type uncertainty and disturbances

Control systems achieve the desired performance with model-based controller if dynamical model of actual plant is given sufficient accuracy. However, there exists a difference between and its dynamics, does not work well intended performance. A error compensator (MEC) proposed for overcoming in our previous study. Attaching to plant, output trajectory made close that model. Then, from controller, apparent dynamics can be smaller, degradation drastically reduced. MEC useful various control such as non-linear delay, so on. In this paper, we propose an original design method filter parameters polytopic-type uncertainty disturbances. First, show analysis about robust system polytopic type based on linear matrix inequality problem. The gain designed using particle swarm optimization presented method. effectiveness disturbance evaluated numerical examples.