Robust Control of Unstable Nonminimum Phase SISO Uncertain System

I. Rusnak (Israel)


Robust control, uncertain systems, nonminimum phase systems, unstable system.


The robustness of an algorithm for control of discrete linear uncertain stochastic systems is presented. This algorithm is based on the state and parameters observability form and a certainty equivalence controller. The algorithm requires only an estimate of the order of the dominant-low frequency part of the system. The effect of the high order dynamics is modeled and tested by introduction of unmodelled dynamics. The robustness is checked by simulation on an unstable nonminimum phase system. The simulations demonstrate that the algorithm preserves stability and performance in presence of unmodeled dynamics, measurement and system driving noises, and is insensitive to the low or high frequency gain sign.

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