A Robustified Feedforward/Feedback Control Approach to Benchmark Problem #4

Abstract

The primry contrl objective of Probtem #4 in [1] is to achieve a fast settling time with minmum of stnrtral mod vibratios in the prenc of limited actuator capalty and platm unceainty. A ro msfied edsrard control approach (2-31 is applied to Problem #4 and se p minary results are presentd We discu the optimal performance achievabe by an ideal time optimal control a h and its performance degrdation due to paramete variations. We then preset a robustified open-loop approach followed by a robustified feedfoward/feedback approach.