Robust Controller Design for interval Plant using Lipatov Theorem

리파토프 정리를 이용한 구간 플랜트의 제어기 설계

In this paper, We design low-order controller to achieve maximized controller stability margin and controller' Performance. FOPA(Fixed Order Pole Assignment) method is one of the approach to design controller in the parametric uncertain system. But the method to define a Target Polynomial is not explicit1y Known. In this paper, our goal is to find a controller Coefficient, such that performance and $l_2$ stability margin are maximized in the parametric uncertain system. Using Lipatove theorem and CDM(Coefficient Diagram Method), we set target polynomial constraints and design a controller which maximizes $l_2$ stability margin. we show effectiveness of the proposed controller design method by comparing $l_2$ stability many of the desired controller with that of the conventional robust controller.