An algorithm for the adaptation of a robust controller to reduced plant uncertainty

Oded Yaniv, Per Olof Gutman*, Linda Neumann

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


A robust fixed parameter controller, with prefilter F and feedback compensator G designed according to the Horowitz method, for a minimum phase uncertain plant P, is considered. The uncertainty is defined as a compact set p{cyrillic}0 in the parameter space. Assume that it becomes known that the actual plant parameter uncertainty is p{cyrillic}1 ⊂ p{cyrillic}0. This paper presents an algorithm that changes the parameters of F and G in such a way that the closed loop behaviour stays within the original specifications while lowering the "cost of feedback". The algorithm is simple to use, and few calculations are needed to apply it.

Original languageEnglish
Pages (from-to)709-720
Number of pages12
Issue number4
StatePublished - Jul 1990


FundersFunder number
United States-Israel Binational Science Foundation
Technion-Israel Institute of Technology


    • Adaptive control
    • closed loop systems
    • control system synthesis
    • feedback control
    • linear systems
    • robust control
    • uncertain systems


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