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7
Design and Analysis of Robust H-infinity Controller

*n+it ,ansal
&
% #eena Sharma
2

'lectrical 'ngineering -epartment% National Instit(te of Technology% .amirp(r (../.% India% &77!!5
'-mail0
&
1ansalan+it&252gmail.com%
2
3eenanaresh2gmail.com

Abstract-
This paper presents a simplified step 1y step proced(re for the design of .
4
controller for a gi3en system. .
4

control synthesis is fo(nd to g(arantee ro1(stness and good performance. It pro3ides high dist(r1ance re5ection%
g(aranteeing high sta1ility for any operating conditions. . infinity controller can 1e designed (sing 3ario(s
techni6(es% 1(t . infinity loop shaping finds wide acceptance since the performance re6(isites can 1e
incorporated in the design stage as performance weights. .ere this techni6(e has 1een (tili7ed to address some
simple pro1lems. Sim(lation res(lts are gi3en in the end to 3erify the 3alidity of techni6(e.
Keywords: .-infinity% loop shaping% weight selection% ro1(st control% sensiti3ity

1. INTRD!CTIN
Considera1le ad3ancement has 1een made in field of . infinity control synthesis since its inception 1y
8ames. 9ne can find a n(m1er of theoretical ad3antages of the methodology s(ch has high dist(r1ance re5ection%
high sta1ility and many more. It has 1een widely (sed to address different practical and theoretical pro1lems.
:i;ed weight . Infinity controllers pro3ide a closed loop response of the system according to the design
specifications s(ch as model (ncertainty% dist(r1ance atten(ation at higher fre6(encies% re6(ired 1andwidth of
the closed loop plant etc. /ractically% . Infinity controllers are of high order which% may lead to large control
effort re6(irement. :oreo3er% the design may also depend on specific system and can re6(ire its specific
analysis. <hen .
4
-optimal control approach is applied to a plant% additional fre6(ency dependent weights are
incorporated in the plant and are selected to show partic(lar sta1ility and performance specifications rele3ant to
the design o15ecti3e defined in 1eginning.


=ig(re &0 Classical feed1ac+ system str(ct(re with single weighting

#ario(s techni6(es are a3aila1le in literat(re for the design of . infinity controller and . infinity loop
shaping is one of the widely accepted among them as the performance re6(irements can 1e em1edded in the
design stage as performance weights. The classical feed1ac+ system str(ct(re shown in =ig.& esta1lishes in
general that weighing 3ario(s loop signals in a way determined 1y the design specifications% the plant can 1e
a(gmented possi1ly to prod(ce (sef(l closed loop transfer f(nction tradeoffs. .ere% a linear plant model is
a(gmented with certain weight f(nctions li+e sensiti3ity weight f(nction% etc. so that desired performances of
closed loop transfer f(nction of the plant can 1e ass(red.
In this paper% we propose a simplified% step 1y step proced(re for a(tomatic weight selection algorithm for
design of controller (sing .- infinity controller. =(rthermore% the paper has 1een di3ided in two sections. Section
2 gi3es the short re3iew of .- infinity controller and f(rther design e;amples are gi3en in section $.

". H IN#INIT$ CNTR%
.
4
1ased ro1(st control is proposed here% which deals with the characteristics s(ch as amplifiers delay or
sensors offset.=irst proposed 1y 8ames% ro1(st control theory addresses 1oth the performance and sta1ility
criterion of a control system. Considering G (s and K(s as the open loop transfer f(nction of the plant and
controller transfer f(nction respecti3ely% this will ens(re ro1(stness and good performance of closed loop
system.Controller K(s can 1e deri3ed% pro3ided it follows three criterions% which are0
1.1 Stability criterion
If the roots of characteristic e6(ation are in left half side of s plane% then sta1ility is
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>
ens(red.
1.2Performance Criterion
It esta1lishes that the sensiti3ity is small for all fre6(encies where dist(r1ances
and set point changes are large.
1.3Robustness criterion
It states that sta1ility and performance sho(ld 1e maintained not only for the nominal model 1(t also for a
set of neigh1oring plant models that res(lt from (na3oida1le presence of modeling errors. ?o1(st controllers
are designed to ens(re high ro1(stness of linear systems.

@(ang7hong Cao% S(;iang =an% @ang A(% *rredondo and B. B(go% 8d7islaw@osiews+i%
*r+adi(s7:ysto+ows+i% proposed the detailed design proced(re for control of linear system. @enerally% the
norm of a transfer f(nction% =% is its ma;im(m 3al(e o3er the complete spectr(m% and is represented as
Cs(p (&
.ere% is the largest sing(lar 3al(e of a transfer f(nction. The aim here is synthesi7e a controller which will
ens(re that the .4 norm of the plant transfer f(nction is 1o(nded within limits. #ario(s techni6(es are there for
the design of the controllers s(ch as two transfer f(nction method and three transfer f(nction method. The
former one has less comp(tational comple;ities and so can 1e preferred o3er the former one for .4 controller
synthesis. The form(lation of ro1(st control pro1lem is depicted in =ig. 2. .ere% DwE is the 3ector of all
dist(r1ance signalsF D7E is the cost signal consisting of all errors. D3E is the 3ector consisting of meas(rement
3aria1les and D(E is the 3ector of all control 3aria1les.


=ig(re 20 ?o1(st Control /ro1lem

Con3entionally% .
4
controller synthesis employs two transfer f(nctions which di3ide a comple; control
pro1lem into two separate sections% one dealing with sta1ility% the other dealing with performance. The
sensiti3ity f(nction% S% and the complementary sensiti3ity f(nction% T% which is re6(ired for the controller
synthesis and are gi3en in (2 and ($.




Sensiti3ity f(nction is the ratio of o(tp(t to the dist(r1ance of a system and complementary sensiti3ity f(nction
is the ratio of o(tp(t to inp(t of the system.

Now o(r o15ecti3e is to find a controller G& which% 1ased on the information in 3% generates a control signal
(% which co(nteracts the infl(ence of w on 7% there1y minimi7ing the closed loop norm w to 7. This can 1e done
1y 1o(nding the 3al(es of for performance for ro1(stness. :inimi7ing the norm

(4
<here%
(5
and are the weight f(nctions to 1e specified 1y the designer. *s we +now that the (ltimate o15ecti3e of the
ro1(st control is to minimi7e the effect of dist(r1ance on o(tp(t% the sensiti3ity S and the complementary
f(nction T are to 1e red(ced. To achie3e this it is eno(gh to minimi7e the magnit(de of and which can 1e
done so 1y ma+ing
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"

is the performance weighting f(nction which limits the magnit(de of the sensiti3ity f(nction and is
the ro1(stness weighting f(nction to limit the magnit(de of the complementary sensiti3ity f(nction :ost widely
(sed techni6(e for selecting the weight f(nctions for the synthesis of the controller is loop shaping techni6(e.
*s it is already +nown that the ro1(st controller is designedso as to ma+e the norm of the plant to its
minim(m and so achie3e this condition three weight f(nctions are added to the plant for loop shaping. ,asically%
the weight f(nctions arelead-lag compensators and can modify the fre6(ency response of the system as desired.
To o1tain the desired fre6(ency response for the plant% loop shaping is employed with the weight f(nctions.
There are 3ario(s methods for loop shaping. The parameters of the weight f(nctions are to 1e 3aried so as to get
the fre6(ency response of the whole system within desired limits.The 1loc+ diagram in =ig. $ descri1es the
mi;ed Sensiti3ity pro1lem.


=ig(re $0 /lant model for the synthesis of controller


=ig(re 40 @eneral control pro1lem

The generali7ed plant /(s is gi3en as%

&
2
$
!
( H
!
s s
k s
t
z W W G
z W w
z W G u
e I G




=

Considering the following state space reali7ations

s !
G
C "

=


%
s
s s
s
s s
!
W
C "

=


%
s
ks ks
ks
ks ks
!
W
C "

=


%
s
t t
t
t t
!
W
C "

=


E

a possi1le state space reali7ation for /(s can 1e written as

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&!
& &
& && &2
2 2& 22
!
(7
!
S S
KS
#
W W G
! !
W
P C " "
W G
C " "
I G





= =

=rom (H and (7 we can write a mi;ed sensiti3ity pro1lem as

(>
s
ks
t
W S
P W KS
W#


=





In case of mi;ed sensiti3ity pro1lem o(r o15ecti3e is to find a rational f(nction controller G(s and to ma+e the
closed loop system sta1le satisfying the following e;pression
min min ("
s
ks
t
W S
P W KS
W#


= =




where% / is the transfer f(nction from w to 8 i.e
(&!
zw
# =
where%
zw
# P = is the cost f(nction. *pplying the minim(m gain theorem% we can ma+e the norm of
zw
# less than (nity% i.e%
min min & (&&
s
zw ks
t
W S
# W KS
W#


=




Therefore we can achie3e a sta1ili7ing controller G(s is achie3ed 1y sol3ing the alge1raic ?iccati
e6(ations% there1y% minimi7ing the cost f(nction I.
*s mentioned in the ro1(st control theory the synthesis of the controller re6(ires the selection of two
weight f(nctions. There are 3ario(s methods a3aila1le in literat(re for selection of weights. In most of these
design methods the weighting f(nctions are selected (sing trial and error and f(rther the .4 controller is
synthesi7ed 1y loop shaping techni6(e. ,(t train and error proced(re may not end (p in a sta1ili7ing controller
and thisis the main draw 1ac+ in this type of synthesis.

The weights % and are the t(ning parameters and it typically re6(ires some iterations to o1tain
weights which will yield a good controller. That 1eing said% a good starting point is to choose
!
!
J
(&2
s
s $
W
s
+
=
+

. (&$
ks
W const =
!
!
J
(&4
t
s $
W
s
+
=
+

where * K & is the ma;im(m allowed steady state offset% is the desired 1andwidth and : is the sensiti3ity
pea+ (typically * C !.!& and : C 2. =or the controller synthesis% the in3erse of is an (pper 1o(nd on the
desired sensiti3ity loop shape% and will effecti3ely limit the controller o(tp(t ( which is symmetric to
aro(nd the line .=ig shows the two weighting f(nctions for the parameter 3al(es * C !.!&(C L4!d,% :
C 2(C Hd, and radJsec.

'. D()I*N (+A,-%(
$.1 %&am'le 1
Met the plant and nominal model are considered as follows0
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&&
/lant C
( )( )
2
>5
& !.& 2 s s + +

The weighting f(nctions designed 1y the algorithm are ser3es to satisfy the control specification for the
sensiti3ity characteristic and the response characteristic..ere it can 1e ta+en as
5
5 4
s
s
W
s e
+
=
+

and
&F
ks
W =
This prod(ces the following controller

( )
H 5 4 $ 2
> 7 H 5 4 $ 2
4"7H 4.!> !!5 &.274!!7 &.>$5 !!> &.&27 !!" &.752 !!" 7."&7 !!> $.">& !!5
H>27 7.!$" !!5 $.!"4 !!7 H.2&& !!> 4.7"" !!" 4.2&2 !!" 4.2!" !!H &!H!
e s s e s e s e s e s e
K S
s s e s e s e s e s e s e s
+ + + + + + +
=
+ + + + + + + +

<ith @*::*C&.244&
The largest sing(lar 3al(e ,ode plots of the closed-loopsystem are shown in =ig. 5. <e note that the
controller typically gi3es arelati3ely at fre6(ency response since it tries to minimi7e the pea+ of the
fre6(encyresponse.
10
-2
10
-1
10
0
10
1
10
2
10
3
10
4
1.05
1.1
1.15
1.2
1.25
#re.uency /rad0sec1
A
2
3
l
i
t
u
d
e

=ig(re 50The largest sing(lar 3al(e plot of the closed-loop
System with a controller
10
-2
10
-1
10
0
10
1
10
2
10
3
10
10
-10
10
-8
10
-6
10
-4
10
-2
10
0
10
2
10
4
#re.uency /rad0sec1
A
2
3
l
i
t
u
d
e

=ig(re H0The fre6(ency responses of S%T%GS and
@Gwith G
?o1(st .4 controller de3eloped not only operates on the +nown plant in a sta1le en3ironment% 1(t alsopro3ides
good control for a set of near1y (ncertain plants.The system m(st 1e ro1(st eno(gh to pro3idegood performance
and sta1ility o3er the (ncertainty. Sing(lar 3al(es are a good meas(re of the systemro1(stness. The =ig.H plots
the sing(lar 3al(e plot of the system with . infinity control.
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&2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.5
1
A
2
3
l
i
t
u
d
e
ti2e

=ig(re 70 Step response
3.2 %&am'le 2
The gi3en plant model is%
/lant C
2
$"
25 7 4 !!5 s s e +

with the weight f(nction as%
( )
$!!
$ &5
s
W s
s
+
=
+

( )
&!!
2!!
s
W t
s
+
=
+

Sol3ing with the help of weight f(nctions% we get the controller as%
( )
$ 2
4 $ 2
&.$>5 !&5 5.!&H !&7 5.&&> !&" &.25 !2&
7.5$7 !!H 2.24$ !&& H."2H !&4 $.457 !&5
e s e s e s e
K s
s e s e s e s e
+ + +
=
+ + + +

<ith @*::*C!.77>5
10
-2
10
-1
10
0
10
1
10
2
10
3
10
4
0.755
0.76
0.765
0.77
0.775
0.78
0.785
#re.uency /rad0sec1
A
2
3
l
i
t
u
d
e

=ig(re >0 The largest sing(lar 3al(e plot of the closed-loop
System with a controller

The largest sing(lar 3al(e ,ode plots of the closed-loopsystem are shown in =ig(re >. <e note that the
controller typically gi3es arelati3ely at fre6(ency response since it tries to minimi7e the pea+ of the
fre6(encyresponse.
10
-2
10
0
10
2
10
4
10
6
10
-4
10
-2
10
0
10
2
#re.uency /rad0sec1
A
2
3
l
i
t
u
d
e

=ig(re "0 The fre6(ency responses of S% T% and
@G with G
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&$
?o1(st .4 controller de3eloped not only operates on the +nown plant in a sta1le en3ironment% 1(t alsopro3ides
good control for a set of near1y (ncertain plants.The system m(st 1e ro1(st eno(gh to pro3idegood performance
and sta1ility o3er the (ncertainty. Sing(lar 3al(es are a good meas(re of the system ro1(stness. The =ig (" plots
the sing(lar 3al(e plot of the system with . infinity control.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-0.5
0
0.5
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.5
1
1.5
A
2
3
l
i
t
u
d
e
ti2e
=ig(re &!0 Step response

4. CNC%!)IN
* step-wise proced(refor the design of .
4
controller has 1een presented in detail in this paper. It has 1een
o1ser3ed from analysis that .
4
controller g(arantees ro1(stness% good performance in terms of sensiti3ity and
pro3ides high dist(r1ance re5ection% pro3iding high sta1ility for any operating conditions. Simple ill(strati3e
e;amples ha3e 1een considered and loop shaping techni6(e has 1een (tili7ed to sol3e the pro1lems. Sim(lation
res(lts presentedhere 3erify the 3alidity of loop shaping techni6(e.

5. R(#(R(NC()
N&O. 8ames @.% P=eed1ac+ of 9ptimal Sensiti3ity0 :odel ?eference Transformations% :(ltiplicati3e Semi-
norms% and *ppro;imate In3ersesP% I%%%#rans. C( #ol. *C-2H% &">&% pp$!&-$2!.
N2O. Mim1eer% -.B.N. and Gasenally% '.% &">H% P.
4
9ptimal Control of a Synchrono(s T(r1ogeneratorP in
Proc. I%%% 2)t* Conf. "ecision Contr. (*thens% @reece% -ec. &">H% pp H2-H5.
N$O. -oyle B. C.% @lo3er G.% Ghargone+ar /. /. and =rancis ,. *.% State- Space Sol(tions to Standard +
2
and
(control pro1lems% Proc. &">> merican Control Conference( *tlanta (&">>.
N4O. @lo3er G. and -oyle B.C.% State-Space =orm(lae for all Sta1ili7ing Controllers that Satisfy an - Norm
,o(nd and ?elations to ?is+ Sensiti3ity% Systems an, Control -etters &&% &H7J&72 (&">>.
N5O. @(ang7hong Cao% S(;iang =an% @ang A( QThe Characteristics *nalysis of :agnetic ,earing ,asedon
.-infinity ControllerR%Procee,in.s of t*e )1t* Worl, Con.ress on Intelli.ent Control an, utomation%
B(ne &5-&"% 2!!4% .ang7ho(% /.?. China.
NHO. *rredondo and B. B(go% Q*cti3e :agnetic ,earings ?o1(st Control -esign 1ased on Symmetry
/ropertiesR% Procee,in.s of t*e merican Control Conference%SS*% B(ly &&-&$% 2!!7
N7O. ,ea3en ?.<.% <right :.T. and Seaward -.?.% Q<eighting f(nction selection in the .4 design
/rocessR% Control %n.. Practice% #ol.4% No. 5% pp. H25-H$$% &""H
N>O. Bian+(n .(% Christian ,ohn% <( ..?.% QSystematic .4 weighting f(nction selection and its application
to the real-time control of a 3ertical ta+e-off aircraftR% Control %n.ineerin. Practice > (2!!! 24&-252
N"O. Carl ?. Gnospe% Q*cti3e magnetic 1earings for machining applications% Control %n.ineerin. Practice
&5 (2!!7 $!7T$&$
N&!O. :ar+ Sie1ert% ,en '1ihara%?alph Bansen% ?o1ert M. =(saro and <ilfredo :orales% *l1ert Gasca+%
*ndrew Genny% Q* /assi3e :agnetic ,earing =lywheelR% N*S*JT:U2!!2-2&&&5"% 3/t* Intersociety
%ner.y Con0ersion %n.ineerin. Conference cosponsored 1y the *S:'% I'''% *ICh'% *NS% S*'% and
*I** Sa3annah% @eorgia% B(ly 2"T*(g(st 2% 2!!&%
N&&O. #erde C. and =lores B.% QNominal model selection for ro1(st control designR% 'rocee,in.s of t*e
merican control conference% seatle% <ashington% &""H.
N&2O. ,ea3en <.% <right :.T. and Seaward -.?.% Q<eighting =(nction selection in the .4 design processR%
control en.. 'ractice% 3ol. 4% no. 5% pp. H25-H$$% &""H
N&$O. 'ngell S.% Q-esign of ro1(st control systems with time-domain specificationsR% control en.. 'ractice%
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3ol. $% no. $% pp. $H5-$72% &""5
N&4O. -idierh'nrion% :ichael Se1e+ and Sophie Tar1o(riech% Q*lge1raic approach to ro1(st controller design0
* geometric interpretationR% Procee,in.s of t*e merican control conference(philadelphia%
pennsyl3ania5(ne% &"">
N&5O. Biang 8. =.% <( .. C.% M( ..% Mi C. ?.% QSt(dy on the Controlla1ility for *cti3e :agnetic ,earingsR%
1ournal of P*ysics0 Conference Series&$ (2!!5 4!HT4!"
N&HO. .ochsch(l3erlag *.@.% Go+ame ..% Go1ayashi ..% :ori T.% ?o1(st performance for linear delay-
differential systems with time-3arying (ncertainties% I%%% #rans. on utomatic Control% #ol.4$% No.2%
22$-22H% &"">.
N&7O. '(( T. B.% Tong .. G.% .ong ,. /.% .-infinityo(tp(t feed1ac+ controller design for linear systems with
time-3arying delayed state% I%%% #rans. on utomatic Control% #ol.4$% No.7% "7&-"74% &"">.
N&>O. Mee B. ..% Mim S. <.% Gwon <. ..% :emoryless controllers for state delayed systems( I%%% #rans.
on utomatic Control% #ol.$"% No.&% &5"-&H2% &""4.
N&"O. Mi( .. A.% A( ,. @.% 8h( A. =.% Tang S. T.% M:I *pproach of dynamic o(tp(t feed1ac+ control for
large-scale interconnected time-delay systems% 1ournal of Sout* C*ina 2ni0ersity of #ec*nolo.y%
#ol.2"% No.&&% $7-4&% 2!!&.
N2!O. -oyle B. C.% -ecture 3otes( in ,aances in $ulti0ariable Control( 9N?J.oneywell <or+shop%
:inneapolis (&">4
N2&O. =rancis ,. *.% Course in ( control #*eory( Springer-#erlag (&">7
N22O. Gim(ra .. and Gawatani ?.% Synthesis of+( Controllers ,ased on Con5(gation% Proc.of C"C( 7J&$
(&">>
N2$O. 8ho( G. and Ghargone+ar /. /.% *n *lge1raic ?iccati '6(ation *pproach to ( 9ptimi7ation% Systems
an, Control -etters &&% >5J"& (&">>
N24O. Sampei :.% :ita T.% Chida V and Na+amichi :.% * -irect *pproach To Control /ro1lems Ssing
,o(nded ?eal Memma% Conference on "ecision an, Control% =lorida (&">"
N25O. Nair S. Sarath% *(tomatic weight Selection *lgorithm for -esigning .-Infinity controller for *cti3e
:agnetic ,earing% International 1ournal of Science an, #ec*nolo.y 4I1%S#5% #ol. $% No. &% Ban 2!&&.
N2HO. .3osto3 S. .arry% Simplifying .-Infinity Controller Synthesis 3ia Classical feed1ac+ System Str(ct(re%
Procee,in. of t*e 26
t*
Conference on "ecision an, Control% Tampa% =lorida% -ec%&">"