Robust Analysis of the Designed Controller Based on the Critically Damped Condition

In this research, the robustness of the controller designed based on the critically damped condition (CD) is evaluated against parametric uncertainty, time delay, sensor/actuator faults, and the failure of the actuators. Then,  robust controllers are designed in different conditions and the results are compared with the CD method. Linear matrix inequalities and Lyapunov theory are used to design the  controllers, and due to the fact that sparse and large matrices arise in the process of solving, the problem is suboptimally solved. Therefore, Yalmip toolbox and Mosek® solver are used for this purpose.