Linear Controller Design: Limits of Performance by Stephen Boyd and Craig Barratt - HTML preview

CHAPTER 8 PERFORMANCE SPECIFICATIONS

might be

env cmb =

( min( ) c( ) max( ) for 0

10) 0 90

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f

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j

Prob

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t

z

t

s

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:

g

where c = cc c + cd d, c is a unit step, and d is a white noise. Roughly

z

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w

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w

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speaking, the speci cation env cmb requires at least a 90% probability that the

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envelope constraint env be satis ed over the rst ten seconds. env cmb limits the

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e ect the (stochastic) disturbance can have during a command step input however,

we do not know whether env cmb is convex.

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