Decentralized Robust Control of Decomposed Uncertain Interconnected Systems

Abstract

In this paper, a new design technique of decentralized robust controllers for a class of uncertain interconnected system is provided. The interconnection matrices and the uncertainties of the system are decomposed into a matched and a mismatched portions. Since the matched portion can always be compensated by feedback controls, this new technique can provide local controllers to withstand strong inter-connections and large uncertainties. The relations among local feedback gains, uncertainty bounds, and interconnection strength are established to aid the robust controller design. A practical system with simulation results is given to exemplify the implementation of the controller design technique.