Computation of robustness margins in multivariable LQG/LTR design when the plant is scalled

다변수 LQG/LTR 설계에서 스케일링 행렬에 의한 강인성 여유 계산

In MIMO design, input and output units are different from each other. By this reason, the effect of larger units to smaller one is not trivial and there is no method of proper scaling, optimal scaling. In this paper, robust stability of MIMO LQG/LTR design are analised when the plnat inputs and outputs are scalled. The upper bound of model error to guarantee the robust stability is obtained, and gain margin and phase margins are computed with respect to scalling matrices.