Adaptive performance/ robust control design using orthotopic set membership identification for low-dimensional systems

The adaptive robust control design problem for low-dimensional systems is addressed in this paper. The proposed scheme consists of an orthotopic set membership identifier, a robust stabilizing controller and a pole placement controller. The identifier provides the minimum (volume-wise) orthotopic region of parameters which is consistent with the data and model structure. Based on this orthotope, the robust controller computes the feasible set of stabilizing controller gains. Subsequently a pole assignment controller selects a subset from the stabilizing gains in order to place the closed-loop poles deeper inside the unit disc. Simulation studies are offered to validate the efficiecy of the proposed method.