Abstract
This paper presents a practical design approach to m-input m-output plants of a given class which are characterized by a frequency-dependent uncertainty function around the transfer function of a stable and minimum-phase nominal model. The compensator includes a LPF (lowpass-filter) loop, which exhibits high gain in the low frequency-domain and low gain in the high frequency-domain. Hence, it can efficiently balance the trade-off between the problems of sensitivity and robust stability. We apply this type of compensator to control an electrical propelling caterpillar. The simulation and experimental results show the effectiveness and robustness of the controller.
