Robustness and performance trade-offs in control design for flexible structures

Abstract

Linear control design models for flexible structures are only an approximation to the “real” structural system. There are always modeling errors or uncertainty present. Descriptions of these uncertainties determine the trade-off between achievable performance and robustness of the control design. In this paper it is shown that a controller synthesized for a plant model which is not described accurately by the nominal and uncertainty models may be unstable or exhibit poor performance when implemented on the actual system. In contrast, accurate structured uncertainty descriptions lead to controllers which achieve high performance when implemented on the experimental facility. It is also shown that similar performance, theoretically and experimentally, is obtained for a surprisingly wide range of uncertain levels in the design model. This suggests that while it is important to have reasonable structured uncertainty models, it may not always be necessary to pin down precise levels (i.e., weights) of uncertainty. Experimental results are presented which substantiate these conclusions