This paper presents a robust controller design methodology for a class of linear uncertain multivariable systems with hard time-domain constraints on their outputs and control signals in response to step disturbance inputs. In this approach, the m×m MIMO system is replaced by m2 SISO systems and then, using the QFT technique, desirable controllers are synthesized. The final controller will be d...

This work focuses on output feedback control of a class of multi-input multi-output nonlinear systems with timevarying uncertain variables and input constraints. A robust dynamic output feedback controller is constructed through combination of a stabilizing bounded robust multivariable state feedback controller with high-gain observers and saturation filters. The state feedback component is des...

So far, the optimization methods under consideration were presented for the continuous time case. This lecture describes a technique which allows one to apply the continuous time algorithms of H2 optimization, H-Infinity optimization, and Hankel optimal model reduction to discrete time systems. The technique is based on applying the familiar “Tustin” (or “bilinear”) CT to DT transformation. Whi...