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On the stable ℋ controller parameterization under sufficient condition

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2 Author(s)
Youngjin Choi ; Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technol., South Korea ; Wan Kyun Chung

Suboptimal ℋ controller is said to internally stabilize the closed loop transfer matrix. However, the stability of the controller is not assured in the conventional ℋ control theory. An unstable controller can damage the whole system when the sensor fails or actuator saturates. This paper presents a stable n-dimensional ℋ controller and its parameterization for the LTI system based on the sufficient condition for the existence of a stable ℋ controller. The stability of ℋ controller and closed-loop transfer matrix is guaranteed if the positive-semidefinite solutions for the suggested three Riccati equations exist

Published in:

Automatic Control, IEEE Transactions on  (Volume:46 ,  Issue: 10 )