Design of Discrete Robust Controller by QFT using PCT-Approach

Abstract

A pseudo-continuous time (PCT) approach to Quantitative Feedback Theory (QFT) design of discrete robust controllers for highly coupled nonlinear plants was developed and experimentally evaluated on a robotic manipulator [2]. The new method provides a straightforward extension of analog QFT techniques to highly coupled nonlinear plants without degrading the robustness of the resulting QFT controller. A detailed description of the design technique and a sample appliction are presented.