Algebraic approach to controller design using structured singular value

The aim of this paper is to show an algebraic approach to controller design using the structured singular value (denoted μ) as a robust stability and performance indicator. The algebraic μ-synthesis is applied to three different problems-time-delay systems, the HIMAT vehicle model and the two-tank system. A way of treating general delayed systems with uncertain time delays via the linear fractional transformation is shown. A simple controller is derived, which handles uncertain time delay in both the numerator and denominator of an anisochronic system. The overall performance is verified by simulations for all systems and compared with the D-K iteration.