Robust control of a non-minimum phase system in presence of actuator saturation

In this paper robust controller synthesis for a nonminimum phase (NMP) system in presence of actuator saturation is elaborated. The nonlinear model of a system is encapsulated with a nominal model and multiplicative uncertainties. Two robust control approaches namely mixed sensitivity H
_∞
and μ-synthesis are compared from the robust stability and robust performance points of views. Finally, through simulation results it is demonstrated that both the robust controller approaches have superior performance compared to that of a conventional PID controller, while H
_∞
controller performs best.