Robust Controller Design for the Benchmark Problem Using the Q-Parameterization Theory

A robust controller design for the benchmark problem using the Q-parameterization theory is presented. The set of all stabilizing controllers for the system is characterized by two free parameters namely q/sub 1/ and q/sub 2/. The controller Qparameters are chosen using optimization so that performance requirements are satisfied. A fourth order stable, minimum phase controller is found to achieve rejection of the clam of impulse disturbance and a fifth order, minimum phase controller is found to achieve rejection of the class of sinusoidal disturbance. Simulation results show stability and performance robustness of the control system using the proposed controller design.