December 2002
Intermediate to advanced
800 pages
18h 7m
English
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8.9. Effect of Model Uncertainty and Disturbances
For controller design purposes, we assumed that the model was perfect. In practice there is model uncertainty. Model uncertainty will be handled by detuning the filter parameter, λ, for robustness.
The Effect of Model Uncertainty on Setpoint Response
Consider a setpoint change only; then
We can see immediately that if the model is perfect 
, then we have the open-loop “control” formulation. When the model is not perfect, then the closed-loop response is much more complicated and can even be unstable ...
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