Joint Synthesis of Robust Dynamic State Feedback and Dynamic Disturbance Feed-Forward for Uncertain Systems

Joint synthesis of dynamic state feedback is considered together with dynamic disturbance feedforward. First a novel parameter transformation is introduced to derive a new LMI condition for synthesis in the case of LTI systems. This condition forms the basis of a new synthesis method, which can easily be specialized to combination of static or dynamic sate feedback with static or dynamic disturbance feedforward. Moreover, it can also be used to synthesize LTI or scheduled controllers for systems that depend on uncertain time-varying parameters, some of which are not measurable online.