Robust control design for perturbed systems by frequency domain approach

Bing-Fei Wu*, Hung I. Chin, Jau Woei Perng, Tsu Tian Lee

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


This paper is concentrated on a perturbed vehicle control system whose gain margin (GM) and phase margin (PM) are analyzed and for which a novel controller design method satisfying the given specifications on GM, PM, and sensitivity is developed. The approach is applied to the plants with uncertain parameters that vary in intervals. Based on the parameter space method and robust stability criteria, gain and phase boundary curves are generated from the characteristic polynomial of the system with which a gain-phase tester is included in series to perform system stability analysis and controller design. The main concern in the controller design is to find a region in the controller coefficient plane so that the performance of the uncertain system satisfies given specifications. The proposed method is applied to an example of a bus system. Simulation results are given for illustration to show the system performances on GM and PM, and the desired controller meeting the specified conditions in frequency domain for the perturbed system is derived.

Original languageEnglish
Pages (from-to)2893-2901
Number of pages9
JournalIEEE Transactions on Vehicular Technology
Issue number5
StatePublished - 1 Sep 2007


  • Gain margin (GM) and phase margin (PM)
  • Parameter space method
  • Robust control
  • Sensitivity

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