Robust control in presence of parametric uncertainties: Observer-based feedback controller design

This paper proposes a complete procedure for the design of a robust controller for a nonlinear process, taking into account the various issues arising in the design and using the main theoretical results from the Literature about this topic. An extended model is set up, linking performance and robustness to the control law: the H∞H∞ norm of the extended system in closed loop measures the achievement of the objectives. The result is a state feedback control law which guarantees robust performance. The problem of the design of an observer to estimate the state of the system is also addressed, as the complete knowledge of the state is required to calculate the control action; moreover, the implications of the use of the observer in the design of the controller are pointed out. The methodology is illustrated via simulation of a regulation problem in a continuous stirred tank reactor (CSTR). The application of this methodology to more complex systems will be discussed.