Coupling between the modeling and controller-design problems. II. Design

For pt. I see ibid., p. 2608-12. In that part, the coupling between the modeling and controller-design problems was quantified in terms of the size of the set of models from which satisfactory controllers may be derived. In this part, the significance of this coupling in controller design is exploited in the formulation of a simultaneous approach to modelling and controller design. The goal is to minimize the worst-case control effort subject to constraints on worst-case performance. It is proven that by allowing the controller-design model and the controller to vary simultaneously, this approach yields a potential reduction in the control effort required to satisfy the prescribed performance goals in comparison to the traditional sequential approach. A simple example illustrating the benefits of this approach is also presented.