This paper focuses on the robust control problem for a class of linear uncertain systems by using frequency techniques. The controller/observer dynamics are analyzed using Lyapunov techniques, in terms of the state and state estimation error, for an uncertainty constrained over a specified range. A Popov-type criterion, a “circle criterion,” defined as the Popov frequency condition and the uncertainty circle, is formulated. It is proved that the closed-loop system is robustly stable if the Popov condition holds at all frequencies. The proposed method is validated against a robust controller for a balancing robot (BR).
A Note on Observer-Based Frequency Control for a Class of Systems Described by Uncertain Models
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received June 14, 2016; final manuscript received July 4, 2017; published online October 3, 2017. Assoc. Editor: Srinivasa M. Salapaka.
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Popescu, N., Ivanescu, M., and Popescu, D. (October 3, 2017). "A Note on Observer-Based Frequency Control for a Class of Systems Described by Uncertain Models." ASME. J. Dyn. Sys., Meas., Control. February 2018; 140(2): 021008. https://doi.org/10.1115/1.4037528
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