Robust control design for uncertain objects with time delay on the state

Resumo

This paper is devoted to developing methodology for designing robust control systems with large gain coefficients. The problem of robust control of uncertain objects with time-delayed states is solved based on the Lyapunov method. An unlimited increase in the gain coefficient of a controller allows the general components of an uncertain model to be suppressed to the maximum extent possible without a loss of stability. Within the limits, the system is described by a hyperplane equation. The quality parameters are determined by tuning the hyperplane coefficients. This equivalent-to-robust control enables one to track a reference signal with the desired accuracy for a wide class of uncertainties. The simulation results illustrate the effectiveness and efficiency of the proposed technique.