Delay-dependent robust H∞ control for uncertain systems with a state-delay

  • Authors:

  • Y. S. Lee;Y. S. Moon;W. H. Kwon;P. G. Park

  • Affiliations:

  • Control Information Systems Lab., School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shilim-dong, Kwanak-gu, Seoul 151-742, South Korea;Suprema Inc., Yangjae-dong, Seocho-Ku, Seoul 137-130, South Korea;Control Information Systems Lab., School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shilim-dong, Kwanak-gu, Seoul 151-742, South Korea;Department of Electronic and Electrical Engineering, Pohang University of Science and Technology, Pohang, Kyung-Book 790-784, South Korea

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2004

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Abstract

A robust H"~ control for uncertain linear systems with a state-delay is described. Systems with norm-bounded parameter uncertainties are considered and linear memoryless state feedback controllers are obtained. Firstly, a delay-dependent bounded real lemma for systems with a state-delay is presented in terms of linear matrix inequalities (LMIs). By taking a new Lyapunov-Krasovsii functional, neither model transformation nor bounding for cross terms is required to obtain delay-dependent results. Secondly, based on the bounded real lemma obtained, delay-dependent condition for the existence of robust H"~ control is presented in terms of nonlinear matrix inequalities. In order to solve these nonlinear matrix inequalities, an iterative algorithm involving convex optimization is proposed. Numerical examples show that the proposed methods are much less conservative than existing results.