A new controller architecture for high performance, robust, and fault tolerant control

In this paper, we propose a new feedback controller architecture. The distinguished feature of our new controller architecture is that the controller design for performance and robustness can be done separately which completely overcome the conflict between performance and robustness in the traditional feedback framework. The controller architecture includes two parts: one part for performance and the other part for robustness. The controller architecture works in such a way that the feedback control system will be solely controlled by the performance controller when there is no model uncertainties and external disturbances and the robustification controller will only be active when there is model uncertainties or external disturbances