A general controller design framework using H8 and dynamic inversion for robust control in the presence of uncertainties and saturations

Sammanfattning: This thesis deals with robust controller design using recently developed methods and tools. Starting from a nonlinear model, nonlinear dynamic inversion (NDI) is applied in order to linearize the system and deal with the varying parameters. Since the resulting closed-loop model lacks of good robustness properties, an H8 scheme is used in order to improve it, by using new Matlab© routines also allowing to x the structure and the order of the controller. Then a next step is to consider actuator saturations, which leads to a multi-objective anti-windup design. At the end the stability and the performance properties of the closedloop system in the presence of linear time-invariant (LTI) and linear time-varying (LTV) uncertainties are formally evaluated using -analysis based tools and integral quadratic constraints (IQCs). All the theory is briey exposed for each technique and is then applied on the control of the angle of attack for a simple aircraft longitudinal model. All this framework shows interesting and satisfying results which prove the eectiveness of H8-based methods and the progress that have been made in this eld.