Reliability of disturbance rejection control based on the geometrical disturbance decoupling

In this note, a reliable disturbance decoupled control system based on the geometrical technique is proposed. For this purpose, first, the conditions for nominal disturbance detection and rejection is introduced by using invariant subspaces. Then, the fragility issue of the controller/observer is addressed with appropriate H_∞ constraints in the form of some linear matrix inequalities (LMIs). In contrast to conventional pole placement method suitable for systems by neglecting sources of uncertainty, in the presented method, the disturbance rejection problem reduces to a quadratic stability problem. It is observed that the proposed method has a better attenuation performance than classical observer-based non-fragile controller. © 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)