Decentralized Robust Control of Linear Uncertain Systems with Reduced Conservatism

In this paper a novel decentralized robust control design scheme is proposed, considering the structured uncertain system matrix with a constant part (typical case for a system with dynamic controller as PID); the resulting robust control design is based on developed robust stability LMI condition which is less conservative than those from literature. In the following we use parameter dependent Lyapunov function and structured auxiliary matrices to receive “structured robust stability condition” which is the base for robust controller design. All developments are performed in general formulation including both discrete-time and continuous-time systems.