Bratislava, Slovak Republic, July 8-11, 2015


Mikuláš Huba
Slovak University of Technology in Bratislava

Robust Control Design by the Performance Portrait


This tutorial deals with introduction to a new approach for an optimal and robust control design. Based on notion of dynamical classes of control, it combines new performance portrait based method for analysis, identification and design of robust control with modifications of two degree of freedom (2DOF) control structures with a reference model. These are enhanced by observers for input and output disturbances and by new corrective blocks communicating information about compensation of acting disturbances to the stabilizing controller. Furthermore, a new degree of freedom in their design may be introduced appropriate for achieving an improved noise attenuation and an increased loop robustness. Simulation and real time control examples of simple first and second order time delayed systems illustrate potential of dramatic performance improvements achievable within this new modular framework.