This paper presents a Converse Lyapunov Function Theorem motivated by robust control analysis and design. Our result is based upon, but generalizes, various aspects of well-known classical theorems. In a unified and natural manner, it (1) allows arbitrary bounded time-varying parameters in the system description, (2) deals with global asymptotic stability, (3) results in smooth (infinitely diff...

The paper presents robust controller design for systems with uncertain transport delays. Robust PI controllers are designed using approach, which combines the method based on plotting the stability boundary locus in the (kp, ki)-plane with the pole-placement method. The approach enables to assure robust stability of the closed loop as well as the quality of the control response prescribed by th...

A robust control approach is developed to control robot in the task space using sliding mode by support of feedback linearization control and backstepping method, in this study. The bounds of uncertainties applied in the sliding mode control are reduced by applying feedback linearization. This provides a robust control system with a less error. The back-stepping method is used to define a linea...

This paper surveys some signi ̄cant applications of interval analysis to robust control ̄eld. Interval analysis is specially powerful in bounding the ranges of functions while providing mathematically rigorous results. This capability is especially welcome in robust control, since a variety of analysis and design problems can be cast in the evaluation of the range of functions over intervals. To...

The H∞ control problem was posed by G. Zames in 1981 [1], and solved by P. Apkarian and D. Noll in 2006 [2]. In this treatise we present the rational of H∞ control, give a short history, and recall the milestones reached before our 2006 solution. We also discuss the recent Matlab function hinfstruct, based on work by Apkarian, Noll and Gahinet (TheMathworks) and available in the Robust Control ...

The objective of the paper is to design the robust discrete H∞ controller for dc motor position control using Frequency-Domain Robust Controller Design Toolbox. In this paper, the time performance characteristics of 2 and 3 order controller has been compared by taking dc motor as a design example. The paper aims at demonstrating and simple modelling and robust discrete control synthesis strateg...