© 2002 WIT Press, Ashurst Lodge, Southampton, SO40 7AA, UK. All rights reserved.

Web: www.witpress.com Email witpress@witpress.com

Paper from: Computers in Railways VIII, J Allan, RJ Hill, CA Brebbia, G Sciutto and S Sone (Editors).
ISBN 1-85312-913-5
Computers in Railways VIII 26 1

Fig. 3 Error system.

Fig. 4 Standard form of the system of Fig. 3.

As is well known, the problem of the synthesis of a robust controller can be

formulated as follows. Determine a controller Gd(s) stabilizing the system of
Fig. 3 for all the perturbation matrices Ad(s) which satisfy the condition
I1 Ad(j2Zf) 111
,1 and such that 1 I T(j2nf) 11,11, where T(s) is the transfer
matrix of the system itself defined as follows:

More precisely, for the synthesis purpose only, three weight functions,
Wdd(S), wd,(s) and Wde(S) are introduced which allows to weight the output
errors and the effects of the disturbance and noise as a function of the frequency.
It follows that the controller is designed in order to obtain:

II Wde(j2nf)T(j2xf)W(j2nf) 11,11,