Simultaneous Providing of Stability Margins Under Parametric Uncertainty and at a Plant Input/Output

Robust stabilization problem for a linear multivariable system with parametric uncertainty is considered. In addition it is required to provide stability margins at the physical input/output of a control plant. Solution of the problem is based on a H∞ optimization formulated in the special way. Numerical solution of such a problem uses linear matrix inequalities (LMI) technique developed in the well-known MATLAB-package Robust Control Toolbox. Illustrative example of the considered problem solution is presented.