Overall, the final system allows for much wider margins with respect to the nominal solution, albeit at the cost of increased power consumption ( 30% for the case ).
A continuous time solution is proposed as the nominal solution of a more accurate digital design.
This is explained because, in the presence of measurement noise, the optimal solution manages to fit partially not only the system dynamics, but also the noise itself which of course cannot be achieved by the nominal solution.
In particular, in comparison with a recently proposed heuristic, the proposed approach improved robustness of UTN system with significance whilst maintaining optimality of nominal solutions.
However, in the presence of the CSI uncertainty, the performance of NonRobust degrades dramatically at most of times since that pretty small perturbations of uncertainty data can make the nominal optimal solution heavily infeasible and thus meaningless.
The problem of interest arises since very often the perturbations related to a nominal model in dynamic systems occur during the transients while they are asymptotically vanishing in the steady state or, in the most general worst case, they grow at a smaller rate than the solution of the nominal differential equation.
Employing a nominal feedback law, not necessarily satisfying a linear growth restriction, which globally asymptotically, and not necessarily exponentially, stabilizes a nominal transformed system, we prove global asymptotic stability of the original closed-loop system, under the predictor-based version of the nominal feedback law, utilizing estimates on solutions.
Three levels of solutions (50, 100 and 150%) of the nominal analytical concentrations were prepared and analysed by the developed method.
When infusing intravenous solutions, it is important that the residual solution in the container after the infusion not exceed 5% of the nominal volume in order to deliver the correct dosage.
