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While robust control has been traditionally dealt with along deterministic approaches, in the last two decades this approach has been criticized on the basis that it is too rigid to describe real uncertainty, while it often also leads to over conservative solutions. Probabilistic robust control has
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When system behavior varies considerably in normal operation, multiple control laws may have to be devised. Each distinct control law addresses a specific system behavior mode. An example is a computer hard disk drive. Separate robust control system modes are designed in order to address the rapid
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Informally, a controller designed for a particular set of parameters is said to be robust if it also works well under a different set of assumptions. High-gain feedback is a simple example of a robust control method; with sufficiently high gain, the effect of any parameter variations will be
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and others were fairly robust; the state-space methods invented in the 1960s and 1970s were sometimes found to lack robustness, prompting research to improve them. This was the start of the theory of robust control, which took shape in the 1980s and 1990s and is still active today.
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magnetic head traversal operation, known as the seek, a transitional settle operation as the magnetic head approaches its destination, and a track following mode during which the disk drive performs its data access operation.
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is an approach to controller design that explicitly deals with uncertainty. Robust control methods are designed to function properly provided that uncertain parameters or disturbances are found within some (typically
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policy, a robust control policy is static, rather than adapting to measurements of variations, the controller is designed to work assuming that certain variables will be unknown but bounded.
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The major obstacle to achieving high loop gains is the need to maintain system closed-loop stability. Loop shaping which allows stable closed-loop operation can be a technical challenge.
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One of the challenges is to design a control system that addresses these diverse system operating modes and enables smooth transition from one mode to the next as quickly as possible.
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Robust control systems often incorporate advanced topologies which include multiple feedback loops and feed-forward paths. The control laws may be represented by high order
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of a system over its frequency spectrum, and this guarantees that the system will not greatly deviate from expected trajectories when disturbances enter the system.
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The theory of robust control system began in the late 1970s and early 1980s and soon developed a number of techniques for dealing with bounded system uncertainty.
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perspective, high open-loop gain leads to substantial disturbance rejection in the face of system parameter uncertainty. Other examples of robust control include
180:-driven composite control system is an extension of the gain scheduling idea where the entire control strategy changes based upon changes in system behavior.
136:(VSC). The robustness properties of SMC with respect to matched uncertainty as well as the simplicity in design attracted a variety of applications.
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G. Calafiore and M.C. Campi. "The scenario approach to robust control design," IEEE Transactions on
Automatic Control, 51(5). 742–753, 2006.
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required to simultaneously accomplish desired disturbance rejection performance with the robust closed-loop operation.
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Another example is loop transfer recovery (LQG/LTR), which was developed to overcome the robustness problems of
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been introduced as an alternative, see e.g. that interprets robust control within the so-called
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Linear
Parameter-Varying and Time-Delay Systems. Analysis, Observation, Filtering & Control
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M. Athans, Editorial on the LQG problem, IEEE Trans. Autom. Control 16 (1971), no. 6, 528.
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to be used in a variety of different settings. This idea was already well understood by
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An emerging area of robust control from application point of view is
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Probably the most important example of a robust control technique is
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High-gain feedback is the principle that allows simplified models of
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Probabilistic and
Randomized Methods for Design under Uncertainty
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Multivariable
Feedback Control Analysis and Design (2nd Edition)
29:) set. Robust methods aim to achieve robust performance and/or
309:(Section 1.5) In German; an English version is also available
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A Course in Robust
Control Theory: A Convex Approach
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Robust
Control and Filtering for Time-Delay Systems
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485:Morari, Manfred; Zafiriou, Evanghelos (1989).
113:, which was developed by Duncan McFarlane and
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382:"H-infinity Control Theory of Fluid Dynamics"
33:in the presence of bounded modelling errors.
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363:http://www.nt.ntnu.no/users/skoge/book.html
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525:Calafiore, G. (2006). Dabbene, F. (ed.).
341:Kemin Zhou: Essentials of Robust Control
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506:Mahmoud S., Magdi; Munro, Neil (1989).
380:V. Barbu & S. S. Sritharan (1998).
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448:Robust Control-The Parametric Approach
426:Dullerud, G.E.; Paganini, F. (2000).
466:Zhou, Kemin; Doyle C., John (1999).
445:Bhattacharya; Apellat; Keel (2000).
270:Active disturbance rejection control
102:The modern theory of robust control
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390:Proceedings of the Royal Society A
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154:Other robust techniques includes
149:linear-quadratic-Gaussian control
132:(SMC), which is a variation of
548:. Springer Verlag Heidelberg.
529:. Springer Verlag London Ltd.
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319:Manfred Morari : Homepage
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59:closed-loop transfer function
468:Essentials of Robust Control
430:. Springer Verlag New York.
307:(in German), Springer-Verlag
275:Quantitative feedback theory
156:quantitative feedback theory
121:; this method minimizes the
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134:variable structure control
544:Briat, Corentin (2015).
200:Fractional-order control
86:and emitter-degenerated
210:H-infinity loop-shaping
160:passivity based control
111:H-infinity loop-shaping
52:Criteria for robustness
488:Robust Process Control
411:10.1098/rspa.1998.0289
250:State space (controls)
230:Robust decision making
164:Lyapunov based control
84:operational amplifiers
510:. Marcel Dekker Inc.
451:. Prentice Hall PTR.
303:J. Ackermann (1993),
255:System identification
142:scenario optimization
67:terminal sliding mode
57:negligible. From the
36:The early methods of
215:Sliding mode control
130:sliding mode control
119:Cambridge University
44:In contrast with an
403:1998RSPSA.454.3009B
397:(1979): 3009–3033.
220:Intelligent control
195:Control engineering
88:bipolar transistors
579:Stochastic control
330:Safonov: editorial
205:H-infinity control
77:transfer functions
555:978-3-662-44049-0
536:978-1-84628-094-8
491:. Prentice Hall.
470:. Prentice Hall.
245:Stable polynomial
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