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Fundamental limits in robustness and performance for unstable, underactuated systems

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2 Author(s)
N. M. Thibeault ; Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA ; R. Smith

We derive bounds on the ℋ norm of a weighted output sensitivity function and a weighted output complementary sensitivity function for an underactuated, multiple-input-multiple-output (MIMO), linear, time-invariant (LTI), unstable plant in feedback with an internally stabilizing, LTI controller. These bounds indicate a limit to the achievable robustness and performance for such systems and thus, are valuable tools for performing system design tradeoffs

Published in:

IEEE Transactions on Automatic Control  (Volume:46 ,  Issue: 8 )