Model Bridge Control -multi Degree of Freedom Design for High Robustness and High Performances-

Abstract: This paper proposes a new concept of robust control – Model Bridge Control (MBC). The MBC is a multi-degree of freedom control based on the model bridge principle (MBP) that the gaps between objects and achievements are bridged by individual models. The key of MBC is the error compensation by the model which covers both gain and phase of the error. This breaks through the tradeoff between the robust stability and performances, and yields high robustness and high performances simultaneously beyond the small gain theorem. A new robust stability criteria and systematic design method are presented.