A new approach to the robust control synthesis design for the ACC-benchmark problem (undamped, non-colocated spring-mass system)

We consider the ACC benchmark problem of a non-colocated spring-mass system as proposed by Wie and Bernstein (1991) and discuss a method for obtaining a robust compensator. Results of this paper show that by "right" modification of a specially designed robust compensator, the robust performance for the whole family is obtained by considering only the robust performance of extreme plants of the family. More specifically, first, we find a robust compensator for the uncertain system in a nonconservative way. Then, by further modifying the robust compensator for the extreme plants, we obtain the desired compensator for the whole family.