... reduced order systems stability nonlinear systems singular perturbation robust performance H -infinity control disturbance attenuations One drawback of H ∞ design is that the order of the controller is at least equal to that of the plant, and larger if, as is common...

... inverse compensated plant is used to obtain an unstructured uncertainty representation, however, rather than computing QFT templates based on parametric uncertainty. An increase in achievable robust performance with any linear robust performance control design technique may then be obtained. The method...

... with stability analysis. The adaptive and integral property of the HPC greatly enhances the robust performance with minimal control effort. The actuator saturation issue is also considered. Experimental results demonstrate the effectiveness of the proposed controller. Combinations of the perturbation...