What is it about?

This paper examines the problem of designing a robust controller for an electric vehicle with constraints in the control input and system output. The design of a controller for robustness and performance requires satisfying precise specifications. This paper provides the design conditions for the existence of such a controller that can assure both robust stability and performance objective.

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Why is it important?

We have shown how anticipated uncertainties in vehicle model can be recast into parametric uncertainties. This modelling approach is essential to the design of a robust controller. Furthermore, sufficient conditions for the realisation of a robust controller is provided in terms of linear matrix inequalities constraints. More importantly, this design approach can be utilised in nonlinear systems.


The robust controller design approach adopted in this presentation can be applied to any system model. This article also shows how to include robust stability and performance objectives in design requirements.

University of Auckland

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This page is a summary of: Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering, Journal of Control Science and Engineering, September 2018, Hindawi Publishing Corporation, DOI: 10.1155/2018/7129240.
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