This approach ensures robustness with alleviated constraints.
Furthermore, to ensure robustness with respect to both model and design uncertainties, we have proposed the application, within the PBD framework, of design-centering techniques.
Two switching components have been incorporated into the dynamic feedback law to ensure robustness with respect to the disturbances and uncertainties in the torque coupling coefficients.
The last three controllers are based on the second order sliding mode technique, and they ensure robustness with respect to modeling errors even under external disturbances while reducing the chattering phenomenon in comparison with first order sliding mode controllers.
It is shown that, using a novel observer design tool together with standard backstepping and small-gain techniques, it is possible to design a stabilizing output feedback controller which ensures robustness with respect to dynamic uncertainties.
This algorithm is based on the second order sliding mode technique known as Super-Twisting Algorithm (STA) which is able to ensure robustness with respect to bounded external disturbances.
A cascade control structure is considered consisting of (i) an inner loop with a partially linearizing feedback controller, tuned so as to ensure robustness with respect to parameter uncertainties and non-canceled nonlinearities; and (ii) an outer loop involving two linear predictive controllers.
To ensure robustness with respect to the model assumptions regarding normality, p-values to test the change in mutations associated with treatment (i.e., treatment minus control) from time 0 to time 56 (c11), from time 0 to time 126 (c12) and from time 56 to time 125 (c12 – c11) were computed using permutation tests {Edgington, 1995 #3868} with 1000 replications.
The resulting controller has a high degree of independency with respect to the kinetic growth rate expression, thus ensuring robustness against typical model uncertainties.
