TRACKING METHODOLOGY WITH ZEROS VARIATION AND DISTURBANCE REJECTION APPLIED TO UNCERTAIN SYSTEMS

The problem of signal tracking and disturbance rejection in linear continuous time-invariant systems with uncertain parameters is solved using a zero variation and dynamic output feedback, considering polytopic uncertainties in the plant parameters. It is used a feedback controller Kp(s) to minimize the H2 guaranteed cost from the disturbance input to the output signal. And so, one uses the zeros of the controller in order to design the tracking system. The design is formulated in Linear Matrix Inequality (LMI) framework, such that the optimal solution of the stated control problem is obtained. Simulation of a practical problem illustrates the effectiveness of the proposed method.