The design of a robust controller for uncertain discrete-time systems subject to bounded disturbances and having magnitude and rate bounded actuators is considered. To tackle the problem, the proposed method utilises nested ellipsoids and employs an incremental (velocity) form of the state-space model of the system. By using modified full block S-procedure, the proposed robust control design approach is applicable to any uncertain system with rational parameter dependence which cannot be managed by the existing approaches without introducing some extra conservatism. Finally, an algorithm that allows the method to be used as a gain-scheduling controller is also noted in the study.

考虑了一种不确定的离散时间系统的鲁棒控制器的设计，该系统受到有界干扰并具有幅度和速率有界执行器。为了解决该问题，所提出的方法利用嵌套的椭球并采用系统的状态空间模型的增量（速度）形式。通过使用改进的全块S程序，所提出的鲁棒控制设计方法适用于任何具有合理参数依赖性的不确定系统，而现有方法无法在不引入某些保守性的情况下对其进行管理。最后，在研究中还提到了允许将该方法用作增益调度控制器的算法。