A robust two degree-of-freedom controller for systems with both model and measurement uncertainty

This paper presents a design method for robust two degree-of-freedom (DOF) controllers that optimize the control performance with respect to both model uncertainty and signal measurement uncertainty. In many situations, non-causal feedforward is a welcome control addition when closed loop feedback bandwidth limitations exist due to plant dynamics such as: delays, non-minimum phase zeros, poorly placed zeros and poles (Xie, Alleyne, Greer, and Deneault (2013); Xie (2013), etc. However, feedforward control is sensitive to both model uncertainty and signal measurement uncertainty. The latter is particularly true when the feedforward is responding to pre-measured disturbance signals. The combined sensitivity will deteriorate the feedforward controller performance if care is not taken in design. In this paper a two DOF design is introduced which optimizes the performance based on a given estimate of uncertainties. The controller design uses H∞ tools to balance the controlled system bandwidth with increased sensitivity to signal measurement uncertainties. A successful case study on an experimental header height control system for a combine harvester is shown as an example of the approach.