Robust low-order controller synthesis for model matching of interval plants and its application to servo motor control

This paper considers the problem of designing low-order controllers for model matching of interval plants. This task is theoretically challenging and important for practical applications due to the popularity of low-order control. In this paper, the controller structure is chosen to cover most of the classical control structures, such as PID controllers and lead/lag compensators. First, the synthesis technique for the fixed plant is developed. After then, using the results from the area of parametric robust control, the developed synthesis technique for the fixed plant can be extended to the interval plant. Finally, the obtained results are applied to design a controller for a servo motor with load inertia variation to demonstrate effectiveness of theoretical developments.