Uncertainty Characterization

For completeness in the overall project description, the topic of uncertainty characterization is briefly mentioned. The technical details can be found in [5]. The emphasis was on bounding the uncertainty between the approximate linear model that was used for control synthesis and the actual physical system with parametric uncertainty. A multiplicative input uncertainty structure was determined by the students to adequately represent the actual non-ideal behavior of the system. After subjecting the linear model to parametric variations ( in and k_i), approximate bounds were determined from the corresponding frequency plots of the multiplicative uncertainty. This uncertainty characterization is central to the robust controller design task which is described below.