q Given nominal model P(s).
q(1) Loop Shaping: Obtain a desired open-loop shape (singular values) by
using a precompensator W1 and/or a postcompensator W2,
q Ps=W2PW1
q Assume that W1 and W2 are such that Ps contains no hidden modes.
q(2) (a) Calculate robust stability margin bopt(Ps). If bopt(Ps) <<1, return to (1) and adjust W1 and W2 . (b) Select
e £ bopt(Ps) , then synthesize a
stabilizing controller K¥ which satisfies
q
q
q(3) The final controller K=W1K¥W2