抄録
In recent years, a robust stabilization problem in the gap-metric has received much attentions and, for finite-dimensional systems, it is recognized that the design procedure enables us to take a trade-off between the robustness and the performance of the closed loop system. Moreover, this argument has a merit to obtain a control law in a closed formula, which has a well-known feature of LQG-controllers.
In this paper, we focus on a system with delays in control and consider the robust stabilization problem in the gap-metric. By employing completing the square argument of particular quadratic forms, a design procedure of robust controllers is derived in the framework of finite-dimensional operations. The control law is constructively given based on the solutions to matrix Riccati equations and has a feature of observer-based predictive action. Then we clarify that an alternative representation of maximal robustness margin is characterized with a solution to an transcendental equation.
A game theoretic interpretation is also provided on the trade-off between the initial-uncertainties and attenuating the disturbance caused by plant uncertainties.
