A design of a robust discrete-time controller

- A design method for a robust discrete-time controller is proposed.
- The control system derived from the idea of the normalized plant does not include plant parameters.
- The proposed method can eliminate the influence of an input-side disturbance and is robust to parameter changes.
- The effectiveness of the proposed method is confirmed by simulation studies.
- We also confirm the effectiveness of the proposed method through an experiment with a DC motor.

In this paper, we proposed a robust discrete-time controller. This control system, which is derived from the idea of the normalized plant, does not include plant parameters. Thus, we obtain a control system independent of plant parameters and that has the same structure as a conventional optimal servo control system. Simulation and experimental results show that the proposed method is fairly robust to plant parameter variations and external disturbances.