Optimal Design of Multiple Robust Control Systems

鲁棒控制理论是一种分析和设计反馈控制系统的工具，它明确地考虑了对象动态变化，如参数值和操作条件的变化。在鲁棒控制中，对象动态变化的大小越大，可达到的鲁棒性能就越差。尽管在设计、制造和建模阶段都在努力减少动态变化，但这种变化通常不可能完全消除。在需要高控制性能的应用中，有必要克服不可避免的动态变化所带来的性能限制。多重鲁棒控制方法将变差空间划分为若干个子区域，每个子区域分配一个鲁棒控制器，是克服现有理论局限性的一种很有前途的方法。

Robust control theory is a tool to analyze and design feedback control systems by explicitly taking into account plant dynamics variations, such as changes of parameter values and operating conditions. In robust control, the larger the size of plant dynamics variations is, the worse the achievable robust performance becomes. Although efforts to reduce dynamics variations are always made in the design, manufacturing, and modeling stages, such variations are often impossible to eliminate completely. In applications that need high control performance, it is necessary to overcome the performance limitations imposed by the unavoidable dynamics variations. The multiple robust control method, which divides the variation space into subregions and assign one robust controller to each subregion, is a promising approach to overcome the limitations of existing theories.