Polynomial Design of Optimal Sampled-Data Tracking Systems: II. Robust Optimization

A direct method for robust sampled-data tracking systems design is presented. The method is based on the use of Laplace transformation in continuous time and polynomial equation theory. A criterion is proposed for robust optimization of sampled-data tracking systems. The structure of the optimal robust controller transfer function is investigated and its order is determined explicitly. The relations between robust and quadratic optimization problems are established. A mixed optimization problem is considered, when the cost function includes the integral quadratic error and a robustness term.