This chapter is devoted to the implementation aspects of one of the most important techniques in Robust Control Design, namely the μ-synthesis. For properly chosen weighting functions this design method usually produces a controller that ensures both robust stability and robust performance of the closed-loop system. After a short statement of the μ-synthesis problem, we describe the usage of the function dksyn from Robust Control Toolbox® that iteratively determines a controller which minimizes the closed-loop structured singular value. Some versions of the μ-synthesis are considered next, including the design of a 2-degree-of-freedom controller that usually produces the best results with respect to the closed-loop robust performance. At the end of the chapter we discuss some practical aspects of the μ-analysis and μ-synthesis.
CITATION STYLE
Gu, D. W., Petkov, P. H., & Konstantinov, M. M. (2013). μ-Synthesis. In Advanced Textbooks in Control and Signal Processing (pp. 203–219). Springer International Publishing. https://doi.org/10.1007/978-1-4471-4682-7_12
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