Robust stabilization and robust performance using model reference control and modeling error compensation

A new robust linear controller design method is considered. The robust controller consists of two parts: 1) a conventional model matching feedback and 2) a new linear “modeling error compensator” which exploits a modeling error signal (based on the plant input and output signals) to enhance both the stability and performance robustness. For linear SISO systems of known order without right half plane zeros and arbitrary variation of transfer function coefficients within a given bounded set, a modeling error compensator can be designed which guarantees robust stability and an arbitrary small H_∞-norm of the tracking error transfer function over a given frequency band. Examples show that modeling error compensation can also be used to improve the robustness for systems with right half plane zeros, and that the transient response using model error compensation is better than that using model reference adaptive control