A Robust Tracking Method for MIMO Uncertain Discrete-Time Systems: Mechatronic Applications

Abstract

This paper develops a systematic method to design robust tracking controllers for multi-input multi-output (MIMO) uncertain discrete-time systems with bounded parametric uncertainties, in particular of rational multi-affine type, and generic discrete reference signals with bounded first or second discrete derivatives, also in presence of generic disturbances with bounded first or second discrete derivatives. Theoretical tools and systematic methodologies are provided to effectively design robust innovative controllers for the considered systems. Applicability and efficiency of the proposed methods are validated in two examples via simulation and experimental tests. INDEX TERMS Uncertain discrete-time MIMO systems, parametric uncertainties, robust tracking, discrete-time controllers.