Leonardi F.Da Cruz J.J.Bittar A.2019-08-202019-08-202007LEONARDI, Fabrizio; CRUZ, José Jaime da; BITTAR, Anselmo. Multivariable Robust Control With Time Domain Specifications: Servo and Regulator Problems. Electrical Engineering (Berlin. Print), v. 16, n. 3, p. 279-289, 2006.0948-7921https://repositorio.fei.edu.br/handle/FEI/1997The robust design of compensators and the input scaling aiming setpoint tracking and disturbance rejection with time-domain specifications are presented from a perspective of loop-shaping. Since there is not an explicit relationship between loop-shaping and time-domain specifications, the latter are indirectly taken into account by forcing the plant output to follow the output of a reference model. The design specifications are written in form of loop-shape constraints. Hence, techniques like H∞ can be applied. In order to discuss the frequency dependence of the design constraints, an electromagnetic levitation suspension vehicle prototype and a multivariable mixture tank are considered. © Springer-Verlag 2007.Acesso RestritoArtigo10.1007/s00202-006-0026-2Model matchingRobust controlTime-domain Specifications