Hinf Robust Control Problem

H Infinity Control Problem. To design a controller K(s) of a control system to

satisfy various stability and performance specifications, we utilize the concept of
the generalized plant Figure (b). In this diagram w(s) is the exogenous disturbance
and u(s) is the manipulated variable. z(s) is the controlled variable and y(s) is the
observed variable.

z1 z
P(s) w w z2
z
Generalized Wm(s)I Ws(s)I
y plant u u y
Gp(s)
y y
K(s) K(s)
Figure (b): Generalized Plant Diagram Figure (a): Feedback system
A generalized plant is a linear model consisting of a model of the plant and
weighting functions, Ws and Wm corresponding to the specifications for the
required performance.

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 Hinf Robust Control Problem
H Infinity Control Problem. Referring to the generalized plant shown in Figure
(b), the H infinity control problem is a problem to design a controller K(s) that will
make the norm of the transfer function from the exogenous disturbance w to the
controlled variable z less than a specified value.
z1 z
w z2
z P(s) w Wm(s)I Ws(s)I
Generalized
y plant u u Gp(s) y
y y
K(s) K(s)
Figure (b): Generalized Plant Diagram Figure (a): Feedback system

The reason to use generalized plants, rather than individual block diagrams of
control systems, is that a number of control systems with uncertain elements have
been designed using generalized plants and, consequently, established design
approaches using such plants are available.

Hinf Robust Control Problem

H Infinity Control Problem. Any weighting function, such as W(s), is an important
parameter to influence the resulting controller K(s). In fact, the goodness of the
resulting designed system depends on the choice of the weighting function or
functions used in the design process.
z1 z
w z2
z P(s) w Wm(s)I Ws(s)I
Generalized
y plant u u Gp(s) y
y y
K(s) K(s)
Figure (b): Generalized Plant Diagram Figure (a): Feedback system

Note that the controller that is the solution to the H infinity control problem is
commonly called the H infinity controller.

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 Hinf Robust Control Problem
Solving Robust Control Problems. There are three established approaches to
solve robust control problems.
z P(s) w
Generalized
y plant u
y
K(s)
Figure (b): Generalized Plant Diagram
They are
1. Solve robust control problems by deriving the Riccati equations and solving
them.
2. Solve robust control problems by using the linear matrix inequality approach.
3. Solve robust control problems that involve structural uncertainties by using the
analysis and synthesis approach.
Solving robust control problems by use of any of the above methods requires a
broad mathematical background.

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