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A design procedure for robust linear suboptimal regulators with preassigned trajectory sensitivity

A new procedure for the design of robust linear suboptimal regulators (RLSR) is described that achieves a specified trajectory insensitivity with respect to process parameter variations. This approach makes use of the standard linear optimal regulator (LOR) design and does not require additional sensitivity feedback. A desired compromise between the increase of the quadratic performance index and the decrease of quadratic trajectory sensitivity measure is achieved by choosing the weighting matrix Q of the performance index. The design procedure is applied to the magnetic bearing control system of a maglov vehicle. It is shown that the achievements are similar or even superior to those obtained by previous approaches including those that use additional sensitivity feedback.