Stability- and performance-robustness tradeoffs: MIMO mixed-μ vs complex-μ design

We present a non-trivial case study designed to highlight some of the practical issues that arise when using mixedor complexrobust synthesis methodologies. By considering a multi-input multi-output three-cart mass–spring–dashpot (MSD) with uncertain parameters and dynamics, it is demonstrated that optimized performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased. Comparisons are made (a) in the frequency domain, (b) by RMS values of key signals and (c) in time-domain simulations. The mixedcontrollers designed are shown to yield superior performance as compared with the classical complexdesign. The singular value decomposition analysis shows the directionality changes resulting from different uncertainty levels and from the use of different frequency weights. The nominal and marginal stability regions of the closed-loop system are studied and discussed, illustrating how stability margins can be extended at the cost of reducing performance. Copyright q 2008 John Wiley & Sons, Ltd.