Sensitivity Conditioning: Beyond Singular Perturbation for Control Design on Multiple Time Scales

A classical approach to design controllers for interconnected systems, is assume that the different subsystems operate at time scales, then simpler within each scale, and finally, certify stability of system via singular perturbation analysis. In this work, we propose an alternative also allows individual separately. However, instead requiring a sufficiently large time-scale separation, our consists adding feed-forward term modify dynamics faster systems in order anticipate slower ones. We present several examples bilevel optimization cascade control design, where improves performance currently available methods.