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Robust feedforward design in the presence of LTI/LTV uncertainties

A practical method is proposed for the convex design of robust feedforward controllers which ensures H∞/L2 performance in the face of LTI and arbitrarily time‐varying model uncertainties. A technique that computes the global minimum of this difficult infinite dimensional optimization problem is proposed, as well as a suboptimal but computationally less involved algorithm. Convergence is proved. An efficient way to analyse the robustness properties of a closed loop with or without feedforward controller is obtained as a subproblem. A missile example illustrates the efficiency of the scheme: a robust feedforward controller is designed either on the continuum of linearized time‐invariant models (corresponding to trim points) or on a quasi‐LPV model representing the non‐linear one. Copyright © 2007 John Wiley & Sons, Ltd.