An improved explicit-model-following, loop-shaping control method

A new method of improved explicit-model-following (EMF), loop-shaping robust control system design is proposed for multi-variable control problem. The method uses EMFpsilas control structure, which includes explicit-model, inverse-model and feedback-control blocks; and uses H_infin robust control idea, takes inverse-model as feedforward compensation block, designs feedback compensation block shaping plantpsilas singular plot, and designs H_infin robust feedback control block. Then an attitude controller based on the improved method is designed for an example small-size unmanned helicopter in hover, and the method has good performance and robustness by simulation and robust test.