Abstract
The paper discusses the tracking control of uncertain nonlinear systems. The specific system studied is an XY-table. The control system consists of an "exact" linearizing state feedback and a linear robustifying controller in an outer loop. For the outer loop a controller is synthesized using the mu -methodology. Iterative improvements in the robustness of the controlled system are obtained by stepwise refinements in the structure of the mu -synthesis problem and in the choice of performance weights and uncertainty weights, at the cost of decreased performance. This uncovers the need for preciseness in the choice of design weights
| Original language | English |
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| Title of host publication | Proceedings of the 1995 American control conference, Seattle, Washington, June 21-23. Vol. 4 |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 2853-2854 |
| ISBN (Print) | 0-7803-2446-3 |
| Publication status | Published - 1995 |