Robust controller design based on simplified triangular model (Q1129625)

A simplified triangular model with only three parameters is proposed for approximation of the input response of a stable system. Two kinds of robust controllers are developed based on this approximation model. The robust dead-beat controller extends the result of Astrom to more general stable systems without restriction to monotone step response. By suitable parameters selection the robust stability of the closed-loop system can be guaranteed. Simulations show that the robust controllers are effective and are capable of tracking the desired output exactly in the piecewise -- constant disturbances environment.