Robust Fixed-Order Controller Design for Uncertain Systems with Generalized Common Lyapunov Strictly Positive Realness Characterization

TL;DR

This paper presents a novel LMI-based method for designing robust fixed-order controllers for uncertain SISO systems, ensuring stability and performance with less computational effort and reduced conservatism.

Contribution

It introduces a generalized CL-SPRness framework that simplifies robust controller design by reducing the problem to five LMIs, avoiding vertex evaluations and enhancing performance precision.

Findings

Reduces computational complexity by using only five LMIs.

Provides necessary and sufficient conditions for finite frequency range performance.

Achieves less conservative robust control design.

Abstract

This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the closed-loop stability is appropriately ensured and the performance specifications on sensitivity shaping are conformed in a specific finite frequency range. Utilizing the notion of generalized common Lyapunov strictly positive realness (CL-SPRness), the equivalence between strictly positive realness (SPRness) and strictly bounded realness (SBRness) is established; and then the specifications on robust stability and performance are transformed into the SPRness of newly constructed systems and further characterized in the framework of linear matrix inequality (LMI) conditions. The proposed methodology avoids the tedious yet mandatory evaluations of the specifications on all vertices of the uncertain polytopic system in an explicit form. Instead, solving five LMIs exclusively suffices for ensuring the robust stability and performance regardless of the number of vertices, and thus the typically heavy computational burden is considerably alleviated. It is also noteworthy that the proposed methodology additionally provides the necessary and sufficient conditions for this robust controller design with the consideration of a prescribed finite frequency range, and therefore significantly less conservatism is attained in the system performance.