Robust Passification via Optimal Sensor Blending and Control Allocation

Abstract

Robust passification is considered for uncertain linear, time invariant, systems having redundant actuators and sensors. The approach is to obtain optimal sensor blending and control allocation matrices that maximize the region in the parameter space in which the system remains passive. The approach results in a generalized eigenvalue problem consisting of a number of linear matrix inequalities (LMIs). Reduction of the number of LMIs is investigated, and a numerical example is given for demonstrating the approach.