Robust H2/H8 control of nonlinear system with differential uncertainty

Differential uncertainty is involved in actual system inevitably. That brings great inconvenience for the controller design. In this paper we treat the differential uncertainty as a separate item, and use the robust control theory to analyze the robust performance. Considering the impact of parameter variations, un-model dynamics and external disturbances, we design robust H₂/H_∞ controller. We use the ship yaw/roll coupling system to verify the effectiveness of the controller. We present a simulation result which shows that the robust H₂/H_∞ controller designed in this paper has good robust stability and can meet the system required performance.