| n this work we present a new approach to design robust controllers in linear systems with structured uncertainty and time-domain constraints. More specifically, it is required to find a control law such that a closed-loop system be stable in the face of (i) real parametric uncertainties which can be fixed or time-varying with given bounds on the rate of variation, (ii) norm-bound dynamic uncertainties, and (iii) frequency dependent uncertain template--modeling which allows more precise representation of uncertainty when partial phase information is available. Additionally, we require that the time responses ;Robustness. Treating in unified manner the above uncertainty modeling we derive sufficient conditions for robust stability in terms of the existence of appropriate multipliers. Suitable parametrizations of such multipliers are derived for each of the uncertainty types considered and their computation is reduced to finite-dimensional, convex minimization problems. A main contribution of our results is the formulation of a scaled ;Time-domain performance. To design a robust controller delivering desired time-domain specification we extended the Constrained ;Application example. Moreover, we demonstrate applicability of the... |
