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The nominal performance and robustness are examined.
This controller yields ideal nominal performance, i.e. the disturbances are decoupled from the product concentrations.
However, the nominal performance of the geometric controller is superior to that of conventional PI control.
The included control parameters are adjusted for improved nominal performance and for robustness.
An additional pole region constraint is used to trade nominal performance against robustness.
It has found that the nominal performance, the robust stability and the robust performance are all achieved.
This robust stability requirement is used to derive simple bounds on the nominal performance for some specific cases.
Robust stability, nominal performance and robust performance requirements are evaluated in order to a better understanding of the system dynamics.
In addition, the proposed method exhibits the fine properties of nominal performance recovery as well as chattering alleviation.
In this method, a robust controller which achieves nominal performance and meets robust stability specifications can be designed.
The objective of the used technique is to optimize nominal performance while guaranteeing robust stability and constraint satisfaction.
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