Robust PID Controller Design for Continuous-time Systems via Reduced Routh Parameters

Abstract

The present thesis is devoted to the research on convex approximation and robust output controller design for continuous-time linear systems. The proposed methods are based on the new multilinear stability condition for Hurwitz polynomials and formulated based on the so-called reduced Routh parameters. First part of the thesis presents two inner (convex) approximation algorithms based on the Routh polytopes and cones. The results of convex approximation are used for robust controller design in the second part of the thesis. The functions and algorithms are presented in a format suitable for further software implementation. The software-based package of functions for the practical implementation of both convex approximation and robust controller synthesis is presented in the last part of the thesis. The illustrative examples indicate the effectiveness of the proposed methods and ability of designed controllers to handle uncertainties in considered systems.