Design of a deterministic controller with internal model principle for uncertain linear systems

Abstract

A deterministic linear controller is designed for a linear time invariant system described by a transfer function model based on pole placement. The knowledge required from the unknown system is the bounds of system uncertainties. It is shown that the resulting controller is robust against both structured and unstructured uncertainties and gives an exponentially stable closed-loop feedback system. The internal model principle is included in the controller design to achieve perfect tracking/ disturbance rejection