Synthesis Of Robust Control Systems With Dynamic Actuators And Sensors Using A Static Output Feedback Method

  • Bruno Sereni São Paulo State University
  • Roberto K. H. Galvão Instituto Tecnológico de Aeronáutica
  • Edvaldo Assunção São Paulo State University
  • Marcelo C. M. Teixeira São Paulo State University
Keywords: Robust control, Static output feedback, Linear time-invariant systems, Linear matrix inequalities


In this paper, we propose a strategy for the robust stabilization of uncertain linear time-invariant (LTI) systems considering sensors and actuators whose dynamics cannot be neglected. The control problem is addressed by defining an augmented system encompassing the plant, sensor and actuator dynamics. The central idea of the proposed method lies in the fact that the actual plant states, measured by sensors, are not available for feedback, and thus, the problem can be regarded as a static output feedback (SOF) control design. Then, SOF gain matrices are computed through a two-stage method, based on linear matrix inequalities (LMIs). Intending to illustrate the efficacy and explore the main features of the proposed technique, some computational examples are presented in an application of the method for the design of a robust controller for the classic benchmark problem of the two-mass-spring problem. The examples cover the case of asymptotic stabilization of known and uncertain system model, in addition to decay rate inclusion and incomplete system state information.