Decentralized robust control of decomposed uncertain interconnected systems

In this paper, a new design technique of decentralized robust controllers for a class of uncertain interconnected system is provided. The interconnection matrices and the uncertainties of the system are decomposed into a matched and a mismatched portions. Since the matched portion can always be compensated by feedback controls, this new technique can provide local controllers to withstand strong interconnections and large uncertainties. The relations among local feedback gains, uncertainty bounds, and interconnection strength are established to aid the robust controller design. A practical system with simulation results is given to exemplify the implementation of the controller design technique.