Simple robust normalized IP control design for unknown input disturbance

The present paper proposes a simple UV method derived from the Lagrange approach to obtain control parameters by the loop shaping approach based design policy. In addition, robust loop gain margins of the normalized IP control system were derived and confirmed for second-order CDR with OME in the case of a certain time constant and an uncertain time constant. These margins were designed in a continuous system and could be evaluated and approximated by a CAR using the matrix logarithm conversion for the sampled system approximated in the ADR. The results of numerical evaluation in partial lattice points of damping and uncertain time constant plane clarified the risk of VIP control. Based on space limitations, the results of simulation are not presented herein.