Impulse robust output feedback controllers and its design of generalized uncertain system with feed-forward control

The impulse robust control problem of generalizing uncertain time-vary systems with feed-forward control, via static output feedback, is studied. Uncertainties are time-varying, norm-bounded. According to the feed-forward control matrix being non-singular matrix (special case) or being singular (general case), several designing methods of the gain matrix of such controller are put forward for some different conditions satisfied by the ideal system. Furthermore, under the condition that the ideal system is normalizable by output feedback, the impulse robust output controllers are easily designed for any given uncertain norm bound. In the end, a detailed design procedure of such impulse robust controllers is given in the case that the ideal system is impulse controllable and impulse observable.