Robust control
Robust control refers to a set of design and analysis methods that attempt to guarantee stability and performance of a closed-loop control system in the presence of uncertainties, such as plant model mismatch and unknown disturbances.
JuliaSimControl provides a wide set of tools to facilitate robust-control workflows:
Analysis
hinfnorm2linfnorm2hankelnormh2normnugapncfmarginrobstaboutput_sensitivityoutput_comp_sensitivityinput_sensitivityinput_comp_sensitivityG_CSG_PSgangoffourextended_gangoffour
See also Structured singular value and diskmargin below.
Structured singular value and diskmargin
Examples
- Robustness analysis of a MIMO system
- Control design for a quadruple-tank system with JuliaSim Control
Synthesis
hinfsynthesizehinfsyn_lmih2synthesizespr_synthesizespecificationplotglover_mcfarlaneglover_mcfarlane_2dofhanus
Examples
- $H_\infty$ control design
- Robustness analysis of a MIMO system
- Robust MPC tuning using the Glover McFarlane method
Robust MPC
See examples
- Robust MPC with uncertain parameters
- MPC control of a Continuously Stirred Tank Reactor (CSTR)
- Robust MPC tuning using the Glover McFarlane method
Uncertainty modeling
Examples
Disturbance modeling
add_disturbanceadd_measurement_disturbanceadd_input_differentiatoradd_output_differentiatoradd_input_integratoradd_output_integratoradd_low_frequency_disturbanceadd_resonant_disturbance