Duol Sgt em

Ke t) Otimal abserven

e co-Variaoce
7 R o nepResent 4the noue ineoycy
7 5. presents the nteosey o roce nou
hh meau ed by the race op the matocs
o
Hiner th ace , qreaA-A otey 1ou
Sindardy R epmexoty he heng cy os
Benyon nouse Higerh ttate, mO u 8enson
.
he om dr ho a man
bHen t o educo ho
nose intenp iy.
K ( 1 2A
- e k t K e( ) e .
1-Ak+Ke)
10eaK gundratie Gtausian (LG)
Ka) me ter
N QR
FOPHma ontn oll on OP tma) dbneno r

A A- t fBe' o

AfA , - Qo t PoR ePo o

Ke (Ro Cfo
heATtansbet Bumtthon olo Lg Cortiolee

-K $-A 4 eK Ke
c) K
Tre 0UAan 0 mepresen he andom
T66 ditubütia o Random ditubhon otr
rOtex sue und senxon noue.
Comoison or LG and QR
t LGR ha muth tar 8abety mengn t.e. the
hase MOr higher
Tiepol% ote controlor om LQR
ob,enve.o LgG
a,Tho Loo requenty gai.n o tQR Ore ha
Mheod

Ahat taR has neaten Meod

LoG, Honce
tate accumaty than L
8. gain Cngyove regu MY i h hen CntaR ntar
hu meang that LQR has a highor bandwtdh;
Odvantage mo
rtonay
She bandwidth tovey rope
.so the ped o
tothe
he spoed o 4he Reponxe
LR rasyerr than LG.

Ahdantda o nod
Th
Th gh treauenty role

lope op the 0 DE Momutud

apmoimtted byhe
i9 La than Lae,
Plot a hgh hquenty higher
Hente LR ha better00U upney t bo
Prohe Ae.

ain Mastgen hase aurgin

9 atansben 5unton ondon Means
hiohest deree in the denomnator

ne ero' n a T.f.
rd on o Namaraton
Poles
nto) KCw)
bu) ( aw)tt 13h)
m>nmo em Caled physca
gdDe ystem
 Gt)- ta Co)-90n -ton alu)- tan t 3 u)
So ue al measu ang1 n UauDye diGin
C-ve
-Onao rOoven eqtemy
wh
The tTeue ney ain

anticlockwise

-ve) C1e)
he the m betomes urMob'
C1) kn ats) HC)-J
t h e enge s
ablit
GCow)Hio) 11
LGC).htw): -1o
Hghert th haye nan qin highen the

yn r alouys t dor
on atable ystm
r e (srqin cKiculedtd by qain cO A0 r
Creouer
 phuR CAOMOven negiu
tal ctlaod
enu
C w Hw)1o

leq Cu) H'ju)l pce

for ase 9O m 1
S. Hod do you Kned the tem S..Saund
O not 4ha muc) c e UnaHe ?,

Ess 1 Kp
ene im
S0

wretev N im S G).H)
So

d y 4ah snon decn eas'4he ysNMúm00

y4abie
e th o
weth
beue n eases , 8teady tafs
Xnon odlecreaeRs Adhiui ncn ocuURS ,
 sode /doca de o defdecade
odn/dotado
20 de,
6o dny
pecoa

fne queO
0/1a/1
Robu Conttol
arame thic value) chan6 tðth ct o 0th
NAnnin6 Cumatie tondion.
Oni naritres ae ome -ti me gnooed on
Aoetme
eye red by inean Model.
Th TOSentg an enmo.
Ro bust Stahtliy
A3Mhm uhrth o mein 1auhk urdan all a
6 pa ameten vaniati on u Sud do h b t Robuur

Stahiy
omt Pe roorante
gatytom alAre he perb oom ance indite
ive soed oruorue then e ady state tra cgtnh)
disturctt rejettton o all ran ol anamefen
Vauolion, 4hen h t e h
&hshts ohusl Mrfoma nte
 ROhust coyno Rolut talitRobst,Pendtwane
DBerence be" open conol 1oof8 cloged lop

Heedbatk hene in tae o Uokd Do

l0op
t0nttol.
*Du tubanne Reecion me chanm i not thne
in apen toor tontro1.
(S)

lose 100P

JD)
R
Yri) open toop

4dworjas o edhatk
eduthon eny t4iv°hy due to yaKametnI¢ vancthn,
*DOAUMhonte Rejetio
Noue Suresyi0
o 0 UAurh .

giq0 cl
N) ^e0s use hvo nA
roU
ts)- R) GU.Ht)
tHs) .DI GLS).H)
C).HS)
 DI9

E)R )- Yrs)
t ) hs) .N
Rr)-D)
t s) H3)
AttuatinSianal
U HS) Rs) D(t)-N()-

J9) t otS). HtS) Retuo Drtoemence

Sts)
t tsHs)
sentiv.
TI) Cornpl&me H aoy enxthvit
Tl)-H) 7L
Sheady stase Tnauina i betkr
Et ) u Smeul that O uuny when
Bonyt iv Ay mal
5) T)
Ae ady S1 cov Trackin (Smul Sengètv

Rejectio,
ue upe id
Fon BHe Oturbante oRje ton
he 8mall
Senst'v shoutd

s
*fon bete noue 8un i on,

Complemet anyt) S)
t 91).19 houlbe
Sengetivy
FoR contnoenetq
S) x St)
.hould be AmoUll
Atuaton imits
N fon U) (ontno) enenqy H), s) rou
A m d
s $)TS)-1 Mene n'ton'tachieNe Aml
Vaju S sme Valup
on Tet the
Cem ie Rs) an low nequeNty Sqnad
and dis urh an iq n Ds)
*lote aMre 3iqnad .
At qh fre queny
Tu) m al
A ow
iequeny Steady Atede tra cuin)
SO u Smal
(senstivt le)
The Re m houd be uch enxitivity
APCt n trqtient on (ton bektn
Meady t at tacui bttH disAunh arre
eyetHon) Compte me nHany xiti vety TO) Arould
mall
mal nhgh Anouendy A on cfon Atten
Stup nesson)
CtS).Ht$) toop un

dl ,

o0
ny
Tuen
7
targ
Smal Sts)
o 4ntq gtu.

yt).He) lar e
T ) . t ) .Hr)
t Ct).He )
 T)

An 7
mait
0o ain heonM
en
Adosed too 3 4tom u Mahle,

The toed toop em stade)

Poh u Ccotro

K, lo linoon nelatina4p
Mo de untentainiy 1ot/11
Ognorunnonineanid ie
ttne arunna no panue
othor a0n

Mode UocertaioHy

Stmu ttuowunemiandy Ustruch Dod Unterdainty

Addtv Multiplirathve
UncertaAhy Untentaunt

G) CS) Aacs)
uaoun ominal AdAittve
Un centant

cahve cys)
c C ) 4 Am(S) MuHpti
Un ce rrtainty

hene ts)-ot s)
 he hanp in
9tom
7Duet0 thi unteniy

are 0ne

be gtahle he
the JoNe toop hem
modemode uner4aun ties
value o te untenHauny bn)
ho h ma
hith

faHipicate've hce rHaenty

Fot wa

-
Cat)
feedbock
ban
H
for +0abruty
1

(engruty
7 s ae upes boud o untentaity he v

An)
 minT Tma
T
TIS10ndr ton f0r tytem 34ahta
Undon Untetainty

T Jw)
tjw)HOu)
CIoAed toop 4tanslen vunGH'n

Sinte e han
T + mut b0 le
han he min" vadue o
IT
Ou am t0 manuimize e bound/

mean
mean Ma vatue d T UW)
mn Resonaot ean Rr,

Aim mnimze eonant

eak
TO

w
lptitate sabrUty Main(MsM)

MS
Sopmemum Ts)l| Su ho)l
SurSupemum
nt
value
Stt poe mum i he m a
the
TF even i n o t etaint

S+
S+S
ndou4

StS
Tu)
FoPtindinete 4neuen
Jwt
Juwt5 52
a n ' (y)
Va6 an (%%)

84)-u a)0
Al e o nant
oneno a value o , heo

A
Supe nym 1Du)

ddidte Stahrlhyangin : (4*1)

in addite Unce ainty

o/P at)

Hy)

Hes

Da HE) Sts
V
H S)
o ve uPpen b0und
a < V

Ht7 SS)
Aor a i t y V vadue unwt bemoimum o
H) Vaju e )nimum.
 A
Sup Rcju)sCju)|

16/12/11

Iransbe unct'on ob a MIMO Syptem

FOT fon
a MIMO Stem
poo Ch
HCont
H ol teqbequeney alomuin optmzaton
Chnqu tor olesaning robust Contmol tem
ror= G Suproemum u)
t
sncqu
uue o
Hhe uh Ct m ove
Plat
4had Apdc)

whth u evteroally dto **

prror noy

easur6oet Se nse noue ete.

tontto /p tohith u od back to the Plant

Outhud O sequ lated

2 olled /
(uhith 100 wan 1o totol)

0nHtrol Ha4e VeCior

etronSqna
(ontmol sta.
aursed o°
whith u te htt t o th0 ytem)

S calan

Z Pzw W Pzu
yo 4 ly u.u

Py. 1 fyu .K
.w

7 -yuk) Pyo.
hw Pzu.
Puo Pu .K(9-Pyu
2 Frt Pzur(T Iya) Pyo
Une arn rath Ona ank bounahon
aCe d uNotatton
T (S) CCST A) B+D

maun nota ti o
Packe d
fated atin ota thon o
fo LQ K (ST- -+BK 4Ke ) Ke
Ke
99 packed matu notaiton
A-BK Ke Ke
Ke
K

S hm oquohonA ror H contmo!,

X Ax + 90 B,4
Z C tO 4 Di2

A
C
2 9
D2 P 2
 Cootr o Obie ttve

1. Mnimize (n uo
o y peak oln he
bodo magntu lot.

MSM
GCw),
Stabtliznq aun mtnin K
Find
ini
loe

FO robut ontio3yAen
ade uncertauHy
0ight:
Oughl
ongtont
T
KG(jw)
T.

3 qu ofty depenen wg
o neuemy 9 ton Hh daquent 0r

Senpittve ISsws cT)<T

omplemerMany
e ryr tiv
 I1/2/19n
MoDcL RCFCRCNCC ADnPTIV CONTROLL ER

CMR)
y10 n
Robu St COMO

G s ) G ) +. Aa (5)

uncerttaoty odelin
:(tohust abelity)
Am
Robu st oborma nte)
ts o. Sec
)Ponbormance
tndite
he n t t a moef
hde Moedetid a tontrol Syatem
Ob the a CGua
aGua
ue epreentation
chang t h time
yem 9s the Plant dynamie
mode
0 happe ) inetidty
tat he ddopt
my plant
(0greP t h the attua) em, but as t
the inttial mode ma
dyndmity Vay0tth time;
net a tiude reprejenta ton oln the changed
Pant dy namicy,
te te ata mefeny must change
orttidlem

to iveatbbattoroy porbomanee us t#e

h me,
Plont ranmy yari adaptie
alled an adapte
orfollen
0 uh
C
codrofton.
s)
SStK
 REFERENCE
Mone L

CONTROU1ER

PARAMEER
ADJUSTMnN
MRCHANISM

toop
Tnne 0oP
(ontn ol 00P
COnventton Feed bacK
Outer 100p
Fortpatamoten adustment.

ae
o0pone nt
Reenene Mode) Sathes all the Penbormance
crt4 erci a uth a
etc. ts,tr, le
Node aname en hould be RuCh
th tky can te adopted byte plarl
oname Ae n Adyuumont Hethan1Xm
Kno w but the parameten
AT y Knabn.
SerrOme thonim : posttto (otdleny p)
K an Onde System

s(TAD)
U)
E
 o be ne an
COpo d u a K u me el
the Conttol Paame ten.
C Aahiationfechaniym minmum
be tbo eMo
xhou ld
t h jhat
Rnon ht
uch
beu
Ahoutd tthroe
t r m ho'l4
The cdati au. a
ho)4

meiny
he lo w
bet re
a time ITule
valut
meten
Le C o n t n olle Þ a n a

+e

Co unttionto be Menemt zed

eRky nElant
a
at
téathion
e on ek
e c ) EMea) uaoe exno
welbe Reduce d t
Variatton be be done o - de
aTooches lo zoto.
dt
do Gradieot deseem
d ppa oach
Folo +ho ma tadsent
4o each fay1
Tre ostcme ters, roubd e eduted quicky
ode pope ntionalto the negatie
andduent ve

MIT RULC
bndenorder SyHem
odu - a y tbu Plat
d
dum -am ym t bm
Rebenence Mode

ohee aCtua ton Sign Plan

-4yay 4b(0px)-0,r0
0 tb)y+ be,T
be m bb bm

muy+ be matChed
Thenhe ant dynamits
Rerenente mocle dynami
A -ay b0t)- b0,ct)
L P denote t the, operate

7 a b (-01)
7 + 4 bo,) be,T

P t t b0,
de De

Pa4b0) br.
(1a 4 ho,)
b
Ptat b02
be

Pta+b0 )2

otbo2

(Patb0