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Robust LQ Controller for Discrete-Time System with Matching Structured and Bounded Uncertainties

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2 Author(s)
Phung, Anthony V. ; Boeing Airplane Co., Seattle, WA 98124 ; Sawan, Edwin M.

This paper presents a systematic way for selecting the weighting matrices Q, M and R of the cost function such that the optimal control law for the nominal system can stabilize the uncertain system. The method is based on the Lyapunov stability criterion and the so-called matching conditions of uncertainties (i.e. uncertainty which lies in the range of the system input matrix).

Published in:

American Control Conference, 1993

Date of Conference:

2-4 June 1993